Quaternion.hpp File Reference

#include <rw/common/Serializable.hpp>
#include <rw/math/Rotation3D.hpp>
#include <rw/math/Rotation3DVector.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <ostream>

Classes
class	Quaternion< T >
	A Quaternion \( \mathbf{q}\in \mathbb{R}^4 \) a complex number used to describe rotations in 3-dimensional space. \( q_w+{\bf i}\ q_x+ {\bf j} q_y+ {\bf k}\ q_z \). More...

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::math
	Matrices, vectors, configurations, and more.
	rw::common
	Various utilities and definitions of general use.
	rw::common::serialization
	provide generic handler interface for serialization purposes. To enable serialization of some class MyClass one could either inherit from Serializable or provide overloaded methods to

Typedefs
using	Quaterniond = Quaternion< double >
using	Quaternionf = Quaternion< float >

Functions
template<class T >
Quaternion< T >	ln (const Quaternion< T > &q)
	calculates the natural logerithm of this quaternion More...
template<class T >
Quaternion< T >	exp (const Quaternion< T > &q)
	this will return the exponential of this quaternion \( e^Quaternion \) More...
template<class T >
Quaternion< T >	inverse (const Quaternion< T > &q)
	Calculate the inverse Quaternion. More...
template<class T >
Quaternion< T >	pow (const Quaternion< T > &q, double power)
	calculates the quaternion lifted to the power of power More...
template<class Q , class T >
const Quaternion< Q >	cast (const Quaternion< T > &quaternion)
	Casts Quaternion<T> to Quaternion<Q> More...
template<>
void	write (const rw::math::Quaternion< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	write (const rw::math::Quaternion< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id)
template<>
void	read (rw::math::Quaternion< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id)
template<>
void	read (rw::math::Quaternion< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id)