Public Types | Public Member Functions

Quaternion< _Scalar, _Options > Class Template Reference

The quaternion class used to represent 3D orientations and rotations. More...

Inherits Eigen::QuaternionBase< Quaternion< _Scalar, _Options > >.

List of all members.

Public Types

typedef _Scalar Scalar

Public Member Functions

 Quaternion (const Scalar *data)
template<typename Derived >
 Quaternion (const MatrixBase< Derived > &other)
 Quaternion (const AngleAxisType &aa)
 Quaternion (Scalar w, Scalar x, Scalar y, Scalar z)
 Quaternion ()
template<class Derived >
 Quaternion (const QuaternionBase< Derived > &other)

Detailed Description

template<typename _Scalar, int _Options>
class Eigen::Quaternion< _Scalar, _Options >

The quaternion class used to represent 3D orientations and rotations.

This is defined in the Geometry module.

 #include <Eigen/Geometry> 
Parameters:
_Scalarthe scalar type, i.e., the type of the coefficients

This class represents a quaternion $ w+xi+yj+zk $ that is a convenient representation of orientations and rotations of objects in three dimensions. Compared to other representations like Euler angles or 3x3 matrices, quatertions offer the following advantages:

The following two typedefs are provided for convenience:

See also:
class AngleAxis, class Transform

Member Typedef Documentation

typedef _Scalar Scalar

the scalar type of the coefficients

Reimplemented from RotationBase< Derived, 3 >.


Constructor & Destructor Documentation

Quaternion ( ) [inline]

Default constructor leaving the quaternion uninitialized.

Quaternion ( Scalar  w,
Scalar  x,
Scalar  y,
Scalar  z 
) [inline]

Constructs and initializes the quaternion $ w+xi+yj+zk $ from its four coefficients w, x, y and z.

Warning:
Note the order of the arguments: the real w coefficient first, while internally the coefficients are stored in the following order: [x, y, z, w]
Quaternion ( const Scalar data) [inline]

Constructs and initialize a quaternion from the array data

Quaternion ( const QuaternionBase< Derived > &  other) [inline]

Copy constructor

Quaternion ( const AngleAxisType aa) [inline, explicit]

Constructs and initializes a quaternion from the angle-axis aa

Quaternion ( const MatrixBase< Derived > &  other) [inline, explicit]

Constructs and initializes a quaternion from either:

  • a rotation matrix expression,
  • a 4D vector expression representing quaternion coefficients.

The documentation for this class was generated from the following file: