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) |
| 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. | |
Variables | |
| static const char header_quat_rcsid[] | ROBOOP::__UNUSED__ = "$Id: quaternion.h,v 1.5 2005/07/26 03:22:09 ejt Exp $" |
| RCS/CVS version. | |
Define Documentation
| #define BASE_FRAME 0 |
Definition at line 74 of file quaternion.h.
Referenced by ROBOOP::Impedance::control(), and ROBOOP::Omega().
| #define BODY_FRAME 1 |
| #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().
