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Namespaces |
namespace | ROBOOP |
Functions |
ReturnMatrix | ROBOOP::Omega (const Quaternion &q, const Quaternion &q_dot) |
| Return angular velocity from a quaternion and it's time derivative.
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short | ROBOOP::Integ_quat (Quaternion &dquat_present, Quaternion &dquat_past, Quaternion &quat, const Real dt) |
| Trapezoidal quaternion integration.
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Real | ROBOOP::Integ_Trap_quat_s (const Quaternion &present, Quaternion &past, const Real dt) |
| Trapezoidal quaternion scalar part integration.
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ReturnMatrix | ROBOOP::Integ_Trap_quat_v (const Quaternion &present, Quaternion &past, const Real dt) |
| Trapezoidal quaternion vector part integration.
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Quaternion | ROBOOP::Slerp (const Quaternion &q0, const Quaternion &q1, const Real t) |
| Spherical Linear Interpolation.
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Quaternion | ROBOOP::Slerp_prime (const Quaternion &q0, const Quaternion &q1, const Real t) |
| Spherical Linear Interpolation derivative.
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Quaternion | ROBOOP::Squad (const Quaternion &p, const Quaternion &a, const Quaternion &b, const Quaternion &q, const Real t) |
| Spherical Cubic Interpolation.
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Quaternion | ROBOOP::Squad_prime (const Quaternion &p, const Quaternion &a, const Quaternion &b, const Quaternion &q, const Real t) |
| Spherical Cubic Interpolation derivative.
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