QuaternionBaseAddons.h File Reference

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Functions
template<typename OtherDerived >
Vector3	angularVelocity (const QuaternionBase< OtherDerived > &qd) const
template<typename OtherDerived1 , typename OtherDerived2 >
Vector3	angularAcceleration (const QuaternionBase< OtherDerived1 > &qd, const QuaternionBase< OtherDerived2 > &qdd) const
Quaternion< Scalar >	exp () const
Quaternion< Scalar >	firstDerivative (const Vector3 &omega) const
template<typename OtherDerived >
Quaternion< Scalar >	lerp (const Scalar &t, const QuaternionBase< OtherDerived > &other) const
Quaternion< Scalar >	log () const
template<typename OtherDerived >
Quaternion< Scalar >	operator+ (const QuaternionBase< OtherDerived > &other) const
template<typename OtherDerived >
Quaternion< Scalar >	operator- (const QuaternionBase< OtherDerived > &other) const
Quaternion< Scalar >	operator* (const Scalar &scalar) const
Quaternion< Scalar >	operator/ (const Scalar &scalar) const
Quaternion< Scalar >	pow (const Scalar &t) const
template<typename OtherDerived >
Quaternion< Scalar >	secondDerivative (const QuaternionBase< OtherDerived > &qd, const Vector3 &omega, const Vector3 &omegad) const
template<typename OtherDerived >
void	setFromGaussian (const Vector3 &rand, const QuaternionBase< OtherDerived > &mean, const Vector3 &sigma)
	QuTEM (Quaternion Tangent Ellipsoid at the Mean) sampling algorithm. More...
void	setFromUniform (const Vector3 &rand)
	Generate uniformly-distributed random unit quaternions. More...
template<typename OtherDerived >
Quaternion< Scalar >	slerpFirstDerivative (const Scalar &t, const QuaternionBase< OtherDerived > &other) const
template<typename OtherDerived1 , typename OtherDerived2 , typename OtherDerived3 >
Quaternion< Scalar >	squad (const Scalar &t, const QuaternionBase< OtherDerived1 > &a, const QuaternionBase< OtherDerived2 > &b, const QuaternionBase< OtherDerived3 > &other) const
template<typename OtherDerived1 , typename OtherDerived2 >
Quaternion< Scalar >	squadControlPoint (const QuaternionBase< OtherDerived1 > &previous, const QuaternionBase< OtherDerived2 > &next) const
template<typename OtherDerived1 , typename OtherDerived2 , typename OtherDerived3 >
Quaternion< Scalar >	squadFirstDerivative (const Scalar &t, const QuaternionBase< OtherDerived1 > &a, const QuaternionBase< OtherDerived2 > &b, const QuaternionBase< OtherDerived3 > &other) const

Function Documentation

angularAcceleration()

template<typename OtherDerived1 , typename OtherDerived2 >

Vector3 angularAcceleration	(	const QuaternionBase< OtherDerived1 > &	qd,
		const QuaternionBase< OtherDerived2 > &	qdd
	)		const

angularVelocity()

template<typename OtherDerived >

Vector3 angularVelocity

(

const QuaternionBase< OtherDerived > &

qd

)

const

exp()

Quaternion<Scalar> exp

(

)

const

firstDerivative()

Quaternion<Scalar> firstDerivative

(

const Vector3 &

omega

)

const

lerp()

template<typename OtherDerived >

Quaternion<Scalar> lerp	(	const Scalar &	t,
		const QuaternionBase< OtherDerived > &	other
	)		const

log()

Quaternion<Scalar> log

(

)

const

operator*()

Quaternion<Scalar> operator*

(

const Scalar &

scalar

)

const

operator+()

template<typename OtherDerived >

Quaternion<Scalar> operator+

(

const QuaternionBase< OtherDerived > &

other

)

const

operator-()

template<typename OtherDerived >

Quaternion<Scalar> operator-

(

const QuaternionBase< OtherDerived > &

other

)

const

operator/()

Quaternion<Scalar> operator/

(

const Scalar &

scalar

)

const

pow()

Quaternion<Scalar> pow

(

const Scalar &

t

)

const

secondDerivative()

template<typename OtherDerived >

Quaternion<Scalar> secondDerivative	(	const QuaternionBase< OtherDerived > &	qd,
		const Vector3 &	omega,
		const Vector3 &	omegad
	)		const

setFromGaussian()

template<typename OtherDerived >

void setFromGaussian	(	const Vector3 &	rand,
		const QuaternionBase< OtherDerived > &	mean,
		const Vector3 &	sigma
	)

QuTEM (Quaternion Tangent Ellipsoid at the Mean) sampling algorithm.

Michael Patrick Johnson. Exploiting Quaternions to Support Expressive Interactive Character Motion. PhD Thesis, Massachusetts Institute of Technology, Cambridge, MA, USA, February 2003.

http://characters.media.mit.edu/Theses/johnson_phd.pdf

setFromUniform()

void setFromUniform

(

const Vector3 &

rand

)

Generate uniformly-distributed random unit quaternions.

James J. Kuffner. Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning. Proceedings of the IEEE International Conference on Robotics and Automation, pages 3993-3998. New Orleans, LA, USA, April 2004.

https://doi.org/10.1109/ROBOT.2004.1308895

slerpFirstDerivative()

template<typename OtherDerived >

Quaternion<Scalar> slerpFirstDerivative	(	const Scalar &	t,
		const QuaternionBase< OtherDerived > &	other
	)		const

squad()

template<typename OtherDerived1 , typename OtherDerived2 , typename OtherDerived3 >

Quaternion<Scalar> squad	(	const Scalar &	t,
		const QuaternionBase< OtherDerived1 > &	a,
		const QuaternionBase< OtherDerived2 > &	b,
		const QuaternionBase< OtherDerived3 > &	other
	)		const

squadControlPoint()

template<typename OtherDerived1 , typename OtherDerived2 >

Quaternion<Scalar> squadControlPoint	(	const QuaternionBase< OtherDerived1 > &	previous,
		const QuaternionBase< OtherDerived2 > &	next
	)		const

squadFirstDerivative()

template<typename OtherDerived1 , typename OtherDerived2 , typename OtherDerived3 >

Quaternion<Scalar> squadFirstDerivative	(	const Scalar &	t,
		const QuaternionBase< OtherDerived1 > &	a,
		const QuaternionBase< OtherDerived2 > &	b,
		const QuaternionBase< OtherDerived3 > &	other
	)		const