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quaternion.h File Reference


Detailed Description

Quaternion class.

Definition in file quaternion.h.

#include "robot.h"

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Namespaces

namespace  ROBOOP

Classes

class  ROBOOP::Quaternion
 Quaternion class definition. More...

Defines

#define BASE_FRAME   0
#define BODY_FRAME   1
#define EPSILON   0.0000001

Functions

ReturnMatrix ROBOOP::Omega (const Quaternion &q, const Quaternion &q_dot)
short ROBOOP::Integ_quat (Quaternion &dquat_present, Quaternion &dquat_past, Quaternion &quat, const Real dt)
Real ROBOOP::Integ_Trap_quat_s (const Quaternion &present, Quaternion &past, const Real dt)
ReturnMatrix ROBOOP::Integ_Trap_quat_v (const Quaternion &present, Quaternion &past, const Real dt)
Quaternion ROBOOP::Slerp (const Quaternion &q0, const Quaternion &q1, const Real t)
Quaternion ROBOOP::Slerp_prime (const Quaternion &q0, const Quaternion &q1, const Real t)
Quaternion ROBOOP::Squad (const Quaternion &p, const Quaternion &a, const Quaternion &b, const Quaternion &q, const Real t)
Quaternion ROBOOP::Squad_prime (const Quaternion &p, const Quaternion &a, const Quaternion &b, const Quaternion &q, const Real t)


Define Documentation

#define BASE_FRAME   0
 

Definition at line 74 of file quaternion.h.

#define BODY_FRAME   1
 

Definition at line 75 of file quaternion.h.

#define EPSILON   0.0000001
 

Definition at line 76 of file quaternion.h.

Referenced by ROBOOP::Quaternion::exp(), ROBOOP::Quaternion::Log(), ROBOOP::Quaternion::Quaternion(), and ROBOOP::Quaternion::unit().


ROBOOP v1.21a
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