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quaternion.cpp File Reference


Detailed Description

Quaternion functions.

Definition in file quaternion.cpp.

#include "quaternion.h"

Include dependency graph for quaternion.cpp:

Go to the source code of this file.

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.
short ROBOOP::Integ_quat (Quaternion &dquat_present, Quaternion &dquat_past, Quaternion &quat, const Real dt)
 Trapezoidal quaternion integration.
Real ROBOOP::Integ_Trap_quat_s (const Quaternion &present, Quaternion &past, const Real dt)
 Trapezoidal quaternion scalar part integration.
ReturnMatrix ROBOOP::Integ_Trap_quat_v (const Quaternion &present, Quaternion &past, const Real dt)
 Trapezoidal quaternion vector part integration.
Quaternion ROBOOP::Slerp (const Quaternion &q0, const Quaternion &q1, const Real t)
 Spherical Linear Interpolation.
Quaternion ROBOOP::Slerp_prime (const Quaternion &q0, const Quaternion &q1, const Real t)
 Spherical Linear Interpolation derivative.
Quaternion ROBOOP::Squad (const Quaternion &p, const Quaternion &a, const Quaternion &b, const Quaternion &q, const Real t)
 Spherical Cubic Interpolation.
Quaternion ROBOOP::Squad_prime (const Quaternion &p, const Quaternion &a, const Quaternion &b, const Quaternion &q, const Real t)
 Spherical Cubic Interpolation derivative.


ROBOOP v1.21a
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