rotation.hpp File Reference

#include "Eigen/Core"
#include "Eigen/Geometry"

Include dependency graph for rotation.hpp:

Go to the source code of this file.

Namespaces
namespace	robotoc
namespace	robotoc::rotation

Enumerations
enum class	robotoc::rotation::ProjectionAxis { robotoc::rotation::X , robotoc::rotation::Y , robotoc::rotation::Z }
	Projection axis of the rotation. More...

Functions
template<typename VectorType >
Eigen::Matrix3d	robotoc::rotation::RotationMatrixFromQuaternion (const Eigen::MatrixBase< VectorType > &quat_xyzw)
	Convert quaternion vector (x, y, z, w) to a Rotation matrix. More...
template<typename VectorType >
Eigen::Matrix3d	robotoc::rotation::RotationMatrixFromNormalVector (const Eigen::MatrixBase< VectorType > &normal_vector)
	Convert a normal vector to its surface Rotation matrix. More...
template<typename MatrixType >
Eigen::Vector4d	robotoc::rotation::QuaternionFromRotationMatrix (const Eigen::MatrixBase< MatrixType > &R)
	Convert a rotation matrix to a quaternion vector (x, y, z, w). More...
template<typename VectorType >
Eigen::Vector4d	robotoc::rotation::QuaternionFromNormalVector (const Eigen::MatrixBase< VectorType > &normal_vector)
	Convert a normal vector to its surface quaternion (x, y, z, w). More...
void	robotoc::rotation::ProjectRotationMatrix (Eigen::Matrix3d &R, const ProjectionAxis axis)
	Projects a rotation matrix onto a specified axis. More...