RobWorkProject  24.5.15-
Classes | Namespaces | Typedefs | Functions
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)