Eigen::QuaternionBase< Derived > Class Template Reference

Base class for quaternion expressions. More...

Inheritance diagram for Eigen::QuaternionBase< Derived >:

Public Types
enum	{ Flags }
typedef AngleAxis< Scalar >	AngleAxisType
typedef RotationBase< Derived, 3 >	Base
typedef internal::traits< Derived >::Coefficients	Coefficients
typedef Coefficients::CoeffReturnType	CoeffReturnType
typedef Matrix< Scalar, 3, 3 >	Matrix3
typedef std::conditional_t< bool(internal::traits< Derived >::Flags &LvalueBit), Scalar &, CoeffReturnType >	NonConstCoeffReturnType
typedef NumTraits< Scalar >::Real	RealScalar
typedef internal::traits< Derived >::Scalar	Scalar
typedef Matrix< Scalar, 3, 1 >	Vector3
Public Types inherited from Eigen::RotationBase< Derived, 3 >
enum
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef internal::traits< Derived >::Scalar	Scalar
typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Member Functions
Vector3	_transformVector (const Vector3 &v) const
template<class OtherDerived >
Scalar	angularDistance (const QuaternionBase< OtherDerived > &other) const
template<class OtherDerived >
internal::traits< Derived >::Scalar	angularDistance (const QuaternionBase< OtherDerived > &other) const
template<typename NewScalarType >
internal::cast_return_type< Derived, Quaternion< NewScalarType > >::type	cast () const
internal::traits< Derived >::Coefficients &	coeffs ()
const internal::traits< Derived >::Coefficients &	coeffs () const
Quaternion< Scalar >	conjugate () const
template<class OtherDerived >
Scalar	dot (const QuaternionBase< OtherDerived > &other) const
Quaternion< Scalar >	inverse () const
template<class OtherDerived >
bool	isApprox (const QuaternionBase< OtherDerived > &other, const RealScalar &prec=NumTraits< Scalar >::dummy_precision()) const
Scalar	norm () const
void	normalize ()
Quaternion< Scalar >	normalized () const
template<class OtherDerived >
bool	operator!= (const QuaternionBase< OtherDerived > &other) const
template<class OtherDerived >
Quaternion< typename internal::traits< Derived >::Scalar >	operator* (const QuaternionBase< OtherDerived > &other) const
template<class OtherDerived >
Quaternion< Scalar >	operator* (const QuaternionBase< OtherDerived > &q) const
template<class OtherDerived >
Derived &	operator*= (const QuaternionBase< OtherDerived > &q)
Derived &	operator= (const AngleAxisType &aa)
template<class MatrixDerived >
Derived &	operator= (const MatrixBase< MatrixDerived > &xpr)
template<class OtherDerived >
Derived &	operator= (const MatrixBase< OtherDerived > &m)
QuaternionBase< Derived > &	operator= (const QuaternionBase< Derived > &other)
template<class OtherDerived >
Derived &	operator= (const QuaternionBase< OtherDerived > &other)
template<class OtherDerived >
bool	operator== (const QuaternionBase< OtherDerived > &other) const
template<typename Derived1 , typename Derived2 >
Derived &	setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)
QuaternionBase &	setIdentity ()
template<class OtherDerived >
Quaternion< Scalar >	slerp (const Scalar &t, const QuaternionBase< OtherDerived > &other) const
template<class OtherDerived >
Quaternion< typename internal::traits< Derived >::Scalar >	slerp (const Scalar &t, const QuaternionBase< OtherDerived > &other) const
Scalar	squaredNorm () const
Matrix3	toRotationMatrix () const
VectorBlock< Coefficients, 3 >	vec ()
const VectorBlock< const Coefficients, 3 >	vec () const
NonConstCoeffReturnType	w ()
CoeffReturnType	w () const
NonConstCoeffReturnType	x ()
CoeffReturnType	x () const
NonConstCoeffReturnType	y ()
CoeffReturnType	y () const
NonConstCoeffReturnType	z ()
CoeffReturnType	z () const
Public Member Functions inherited from Eigen::RotationBase< Derived, 3 >
VectorType	_transformVector (const OtherVectorType &v) const
Derived &	derived ()
const Derived &	derived () const
Derived	inverse () const
RotationMatrixType	matrix () const
internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const
Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const
Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const
RotationMatrixType	toRotationMatrix () const

Static Public Member Functions
static Quaternion< Scalar >	Identity ()

Detailed Description

template<class Derived>
class Eigen::QuaternionBase< Derived >

Base class for quaternion expressions.

This is defined in the Geometry module.

#include <Eigen/Geometry> 

Code

Template Parameters

Derived

derived type (CRTP)

See also

class Quaternion

Definition at line 37 of file Quaternion.h.

Member Typedef Documentation

AngleAxisType

template<class Derived >

typedef AngleAxis<Scalar> Eigen::QuaternionBase< Derived >::AngleAxisType

the equivalent angle-axis type

Definition at line 63 of file Quaternion.h.

Base

template<class Derived >

typedef RotationBase<Derived, 3> Eigen::QuaternionBase< Derived >::Base

Definition at line 40 of file Quaternion.h.

Coefficients

template<class Derived >

typedef internal::traits<Derived>::Coefficients Eigen::QuaternionBase< Derived >::Coefficients

Definition at line 47 of file Quaternion.h.

CoeffReturnType

template<class Derived >

typedef Coefficients::CoeffReturnType Eigen::QuaternionBase< Derived >::CoeffReturnType

Definition at line 48 of file Quaternion.h.

Matrix3

template<class Derived >

typedef Matrix<Scalar,3,3> Eigen::QuaternionBase< Derived >::Matrix3

the equivalent rotation matrix type

Definition at line 61 of file Quaternion.h.

NonConstCoeffReturnType

template<class Derived >

typedef std::conditional_t<bool(internal::traits<Derived>::Flags&LvalueBit), Scalar&, CoeffReturnType> Eigen::QuaternionBase< Derived >::NonConstCoeffReturnType

Definition at line 50 of file Quaternion.h.

RealScalar

template<class Derived >

typedef NumTraits<Scalar>::Real Eigen::QuaternionBase< Derived >::RealScalar

Definition at line 46 of file Quaternion.h.

Scalar

template<class Derived >

typedef internal::traits<Derived>::Scalar Eigen::QuaternionBase< Derived >::Scalar

Definition at line 45 of file Quaternion.h.

Vector3

template<class Derived >

typedef Matrix<Scalar,3,1> Eigen::QuaternionBase< Derived >::Vector3

the type of a 3D vector

Definition at line 59 of file Quaternion.h.

Member Enumeration Documentation

anonymous enum

template<class Derived >

anonymous enum

Enumerator
Flags

Definition at line 53 of file Quaternion.h.

       {
    Flags = Eigen::internal::traits<Derived>::Flags
  };

Code

Member Function Documentation

_transformVector()

template<class Derived >

QuaternionBase< Derived >::Vector3 Eigen::QuaternionBase< Derived >::_transformVector ( const Vector3 &  v ) const

inline

return the result vector of v through the rotation

Rotation of a vector by a quaternion.

Remarks

If the quaternion is used to rotate several points (>1) then it is much more efficient to first convert it to a 3x3 Matrix. Comparison of the operation cost for n transformations:

• Quaternion2: 30n
• Via a Matrix3: 24 + 15n

Definition at line 537 of file Quaternion.h.

{
    // Note that this algorithm comes from the optimization by hand
    // of the conversion to a Matrix followed by a Matrix/Vector product.
    // It appears to be much faster than the common algorithm found
    // in the literature (30 versus 39 flops). It also requires two
    // Vector3 as temporaries.
    Vector3 uv = this->vec().cross(v);
    uv += uv;
    return v + this->w() * uv + this->vec().cross(uv);
}

Code

angularDistance() [1/2]

template<class Derived >

template<class OtherDerived >

Scalar Eigen::QuaternionBase< Derived >::angularDistance

(

const QuaternionBase< OtherDerived > &

other

)

const

angularDistance() [2/2]

template<class Derived >

template<class OtherDerived >

internal::traits<Derived>::Scalar Eigen::QuaternionBase< Derived >::angularDistance ( const QuaternionBase< OtherDerived > &  other ) const

inline

Returns

the angle (in radian) between two rotations

See also

dot()

Definition at line 770 of file Quaternion.h.

{
  EIGEN_USING_STD(atan2)
  Quaternion<Scalar> d = (*this) * other.conjugate();
  return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) );
}

Code

cast()

template<class Derived >

template<typename NewScalarType >

internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type Eigen::QuaternionBase< Derived >::cast ( ) const

inline

Returns

*this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

coeffs() [1/2]

template<class Derived >

internal::traits<Derived>::Coefficients& Eigen::QuaternionBase< Derived >::coeffs ( )

inline

Returns

a vector expression of the coefficients (x,y,z,w)

Definition at line 95 of file Quaternion.h.

{ return derived().coeffs(); }

Code

coeffs() [2/2]

template<class Derived >

const internal::traits<Derived>::Coefficients& Eigen::QuaternionBase< Derived >::coeffs ( ) const

inline

Returns

a read-only vector expression of the coefficients (x,y,z,w)

Definition at line 92 of file Quaternion.h.

{ return derived().coeffs(); }

Code

conjugate()

template<class Derived >

Quaternion< typename internal::traits< Derived >::Scalar > Eigen::QuaternionBase< Derived >::conjugate ( void  ) const

inline

Returns

the conjugated quaternion

the conjugate of the *this which is equal to the multiplicative inverse if the quaternion is normalized. The conjugate of a quaternion represents the opposite rotation.

See also

Quaternion2::inverse()

Definition at line 757 of file Quaternion.h.

{
  return internal::quat_conj<Architecture::Target, Derived,
                         typename internal::traits<Derived>::Scalar>::run(*this);
                         
}

Code

dot()

template<class Derived >

template<class OtherDerived >

Scalar Eigen::QuaternionBase< Derived >::dot ( const QuaternionBase< OtherDerived > &  other ) const

inline

Returns

the dot product of *this and other Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations.

See also

angularDistance()

Definition at line 141 of file Quaternion.h.

{ return coeffs().dot(other.coeffs()); }

Code

Identity()

template<class Derived >

static Quaternion<Scalar> Eigen::QuaternionBase< Derived >::Identity ( )

inlinestatic

Returns

a quaternion representing an identity rotation

See also

MatrixBase::Identity()

Definition at line 113 of file Quaternion.h.

{ return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }

Code

inverse()

template<class Derived >

Quaternion< typename internal::traits< Derived >::Scalar > Eigen::QuaternionBase< Derived >::inverse

inline

Returns

the quaternion describing the inverse rotation

the multiplicative inverse of *this Note that in most cases, i.e., if you simply want the opposite rotation, and/or the quaternion is normalized, then it is enough to use the conjugate.

See also

QuaternionBase::conjugate()

Definition at line 726 of file Quaternion.h.

{
  // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
  Scalar n2 = this->squaredNorm();
  if (n2 > Scalar(0))
    return Quaternion<Scalar>(conjugate().coeffs() / n2);
  else
  {
    // return an invalid result to flag the error
    return Quaternion<Scalar>(Coefficients::Zero());
  }
}

Code

isApprox()

template<class Derived >

template<class OtherDerived >

bool Eigen::QuaternionBase< Derived >::isApprox ( const QuaternionBase< OtherDerived > &  other, const RealScalar &  prec = NumTraits<Scalar>::dummy_precision()  ) const

inline

Returns

true if *this is approximately equal to other, within the precision determined by prec.

See also

MatrixBase::isApprox()

Definition at line 184 of file Quaternion.h.

  { return coeffs().isApprox(other.coeffs(), prec); }

Code

norm()

template<class Derived >

Scalar Eigen::QuaternionBase< Derived >::norm ( ) const

inline

Returns

the norm of the quaternion's coefficients

See also

QuaternionBase::squaredNorm(), MatrixBase::norm()

Definition at line 127 of file Quaternion.h.

{ return coeffs().norm(); }

Code

normalize()

template<class Derived >

void Eigen::QuaternionBase< Derived >::normalize ( void  )

inline

Normalizes the quaternion *this

See also

normalized(), MatrixBase::normalize()

Definition at line 131 of file Quaternion.h.

{ coeffs().normalize(); }

Code

normalized()

template<class Derived >

Quaternion<Scalar> Eigen::QuaternionBase< Derived >::normalized ( ) const

inline

Returns

a normalized copy of *this

See also

normalize(), MatrixBase::normalized()

Definition at line 134 of file Quaternion.h.

{ return Quaternion<Scalar>(coeffs().normalized()); }

Code

operator!=()

template<class Derived >

template<class OtherDerived >

bool Eigen::QuaternionBase< Derived >::operator!= ( const QuaternionBase< OtherDerived > &  other ) const

inline

Returns

true if at least one pair of coefficients of *this and other are not exactly equal to each other.

Warning

When using floating point scalar values you probably should rather use a fuzzy comparison such as isApprox()

See also

isApprox(), operator==

Definition at line 176 of file Quaternion.h.

  { return coeffs() != other.coeffs(); }

Code

operator*() [1/2]

template<class Derived >

template<class OtherDerived >

Quaternion<typename internal::traits<Derived>::Scalar> Eigen::QuaternionBase< Derived >::operator* ( const QuaternionBase< OtherDerived > &  other ) const

inline

Returns

the concatenation of two rotations as a quaternion-quaternion product

Definition at line 511 of file Quaternion.h.

{
  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
  return internal::quat_product<Architecture::Target, Derived, OtherDerived,
                         typename internal::traits<Derived>::Scalar>::run(*this, other);
}

Code

operator*() [2/2]

template<class Derived >

template<class OtherDerived >

Quaternion<Scalar> Eigen::QuaternionBase< Derived >::operator* ( const QuaternionBase< OtherDerived > &  q ) const

inline

operator*=()

template<class Derived >

template<class OtherDerived >

Derived & Eigen::QuaternionBase< Derived >::operator*= ( const QuaternionBase< OtherDerived > &  other )

inline

See also

operator*(Quaternion)

Definition at line 522 of file Quaternion.h.

{
  derived() = derived() * other.derived();
  return derived();
}

Code

operator=() [1/5]

template<class Derived >

Derived & Eigen::QuaternionBase< Derived >::operator= ( const AngleAxisType &  aa )

inline

Set *this from an angle-axis aa and returns a reference to *this

Definition at line 567 of file Quaternion.h.

{
  EIGEN_USING_STD(cos)
  EIGEN_USING_STD(sin)
  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
  this->w() = cos(ha);
  this->vec() = sin(ha) * aa.axis();
  return derived();
}

Code

operator=() [2/5]

template<class Derived >

template<class MatrixDerived >

Derived& Eigen::QuaternionBase< Derived >::operator= ( const MatrixBase< MatrixDerived > &  xpr )

inline

Set *this from the expression xpr:

• if xpr is a 4x1 vector, then xpr is assumed to be a quaternion
• if xpr is a 3x3 matrix, then xpr is assumed to be rotation matrix and xpr is converted to a quaternion

Definition at line 585 of file Quaternion.h.

{
  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
  internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
  return derived();
}

Code

operator=() [3/5]

template<class Derived >

template<class OtherDerived >

Derived& Eigen::QuaternionBase< Derived >::operator=

(

const MatrixBase< OtherDerived > &

m

)

operator=() [4/5]

template<class Derived >

QuaternionBase< Derived > & Eigen::QuaternionBase< Derived >::operator= ( const QuaternionBase< Derived > &  other )

inline

Definition at line 550 of file Quaternion.h.

{
  coeffs() = other.coeffs();
  return derived();
}

Code

operator=() [5/5]

template<class Derived >

template<class OtherDerived >

Derived & Eigen::QuaternionBase< Derived >::operator= ( const QuaternionBase< OtherDerived > &  other )

inline

Definition at line 558 of file Quaternion.h.

{
  coeffs() = other.coeffs();
  return derived();
}

Code

operator==()

template<class Derived >

template<class OtherDerived >

bool Eigen::QuaternionBase< Derived >::operator== ( const QuaternionBase< OtherDerived > &  other ) const

inline

Returns

true if each coefficients of *this and other are all exactly equal.

Warning

When using floating point scalar values you probably should rather use a fuzzy comparison such as isApprox()

See also

isApprox(), operator!=

Definition at line 168 of file Quaternion.h.

  { return coeffs() == other.coeffs(); }

Code

setFromTwoVectors()

template<class Derived >

template<typename Derived1 , typename Derived2 >

Derived & Eigen::QuaternionBase< Derived >::setFromTwoVectors ( const MatrixBase< Derived1 > &  a, const MatrixBase< Derived2 > &  b  )

inline

Returns

the quaternion which transform a into b through a rotation

Sets *this to be a quaternion representing a rotation between the two arbitrary vectors a and b. In other words, the built rotation represent a rotation sending the line of direction a to the line of direction b, both lines passing through the origin.

Returns

a reference to *this.

Note that the two input vectors do not have to be normalized, and do not need to have the same norm.

Definition at line 644 of file Quaternion.h.

{
  EIGEN_USING_STD(sqrt)
  Vector3 v0 = a.normalized();
  Vector3 v1 = b.normalized();
  Scalar c = v1.dot(v0);
 
  // if dot == -1, vectors are nearly opposites
  // => accurately compute the rotation axis by computing the
  //    intersection of the two planes. This is done by solving:
  //       x^T v0 = 0
  //       x^T v1 = 0
  //    under the constraint:
  //       ||x|| = 1
  //    which yields a singular value problem
  if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
  {
    c = numext::maxi(c,Scalar(-1));
    Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
    JacobiSVD<Matrix<Scalar,2,3>, ComputeFullV> svd(m);
    Vector3 axis = svd.matrixV().col(2);
 
    Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
    this->w() = sqrt(w2);
    this->vec() = axis * sqrt(Scalar(1) - w2);
    return derived();
  }
  Vector3 axis = v0.cross(v1);
  Scalar s = sqrt((Scalar(1)+c)*Scalar(2));
  Scalar invs = Scalar(1)/s;
  this->vec() = axis * invs;
  this->w() = s * Scalar(0.5);
 
  return derived();
}

Code

setIdentity()

template<class Derived >

QuaternionBase& Eigen::QuaternionBase< Derived >::setIdentity ( )

inline

See also

QuaternionBase::Identity(), MatrixBase::setIdentity()

Definition at line 117 of file Quaternion.h.

{ coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }

Code

slerp() [1/2]

template<class Derived >

template<class OtherDerived >

Quaternion<Scalar> Eigen::QuaternionBase< Derived >::slerp	(	const Scalar &	t,
		const QuaternionBase< OtherDerived > &	other
	)		const

slerp() [2/2]

template<class Derived >

template<class OtherDerived >

Quaternion<typename internal::traits<Derived>::Scalar> Eigen::QuaternionBase< Derived >::slerp	(	const Scalar &	t,
		const QuaternionBase< OtherDerived > &	other
	)		const

Returns

the spherical linear interpolation between the two quaternions *this and other at the parameter t in [0;1].

This represents an interpolation for a constant motion between *this and other, see also http://en.wikipedia.org/wiki/Slerp.

Definition at line 788 of file Quaternion.h.

{
  EIGEN_USING_STD(acos)
  EIGEN_USING_STD(sin)
  const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
  Scalar d = this->dot(other);
  Scalar absD = numext::abs(d);
 
  Scalar scale0;
  Scalar scale1;
 
  if(absD>=one)
  {
    scale0 = Scalar(1) - t;
    scale1 = t;
  }
  else
  {
    // theta is the angle between the 2 quaternions
    Scalar theta = acos(absD);
    Scalar sinTheta = sin(theta);
 
    scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta;
    scale1 = sin( ( t * theta) ) / sinTheta;
  }
  if(d<Scalar(0)) scale1 = -scale1;
 
  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
}

Code

squaredNorm()

template<class Derived >

Scalar Eigen::QuaternionBase< Derived >::squaredNorm ( ) const

inline

Returns

the squared norm of the quaternion's coefficients

See also

QuaternionBase::norm(), MatrixBase::squaredNorm()

Definition at line 122 of file Quaternion.h.

{ return coeffs().squaredNorm(); }

Code

toRotationMatrix()

template<class Derived >

QuaternionBase< Derived >::Matrix3 Eigen::QuaternionBase< Derived >::toRotationMatrix ( void  ) const

inline

Returns

an equivalent 3x3 rotation matrix

Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to be normalized, otherwise the result is undefined.

Definition at line 598 of file Quaternion.h.

{
  // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
  // if not inlined then the cost of the return by value is huge ~ +35%,
  // however, not inlining this function is an order of magnitude slower, so
  // it has to be inlined, and so the return by value is not an issue
  Matrix3 res;
 
  const Scalar tx  = Scalar(2)*this->x();
  const Scalar ty  = Scalar(2)*this->y();
  const Scalar tz  = Scalar(2)*this->z();
  const Scalar twx = tx*this->w();
  const Scalar twy = ty*this->w();
  const Scalar twz = tz*this->w();
  const Scalar txx = tx*this->x();
  const Scalar txy = ty*this->x();
  const Scalar txz = tz*this->x();
  const Scalar tyy = ty*this->y();
  const Scalar tyz = tz*this->y();
  const Scalar tzz = tz*this->z();
 
  res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
  res.coeffRef(0,1) = txy-twz;
  res.coeffRef(0,2) = txz+twy;
  res.coeffRef(1,0) = txy+twz;
  res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
  res.coeffRef(1,2) = tyz-twx;
  res.coeffRef(2,0) = txz-twy;
  res.coeffRef(2,1) = tyz+twx;
  res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
 
  return res;
}

Code

vec() [1/2]

template<class Derived >

VectorBlock<Coefficients,3> Eigen::QuaternionBase< Derived >::vec ( )

inline

Returns

a vector expression of the imaginary part (x,y,z)

Definition at line 89 of file Quaternion.h.

{ return coeffs().template head<3>(); }

Code

vec() [2/2]

template<class Derived >

const VectorBlock<const Coefficients,3> Eigen::QuaternionBase< Derived >::vec ( ) const

inline

Returns

a read-only vector expression of the imaginary part (x,y,z)

Definition at line 86 of file Quaternion.h.

{ return coeffs().template head<3>(); }

Code

w() [1/2]

template<class Derived >

NonConstCoeffReturnType Eigen::QuaternionBase< Derived >::w ( )

inline

Returns

a reference to the w coefficient (if Derived is a non-const lvalue)

Definition at line 83 of file Quaternion.h.

{ return this->derived().coeffs().w(); }

Code

w() [2/2]

template<class Derived >

CoeffReturnType Eigen::QuaternionBase< Derived >::w ( ) const

inline

Returns

the w coefficient

Definition at line 74 of file Quaternion.h.

{ return this->derived().coeffs().coeff(3); }

Code

x() [1/2]

template<class Derived >

NonConstCoeffReturnType Eigen::QuaternionBase< Derived >::x ( )

inline

Returns

a reference to the x coefficient (if Derived is a non-const lvalue)

Definition at line 77 of file Quaternion.h.

{ return this->derived().coeffs().x(); }

Code

x() [2/2]

template<class Derived >

CoeffReturnType Eigen::QuaternionBase< Derived >::x ( ) const

inline

Returns

the x coefficient

Definition at line 68 of file Quaternion.h.

{ return this->derived().coeffs().coeff(0); }

Code

y() [1/2]

template<class Derived >

NonConstCoeffReturnType Eigen::QuaternionBase< Derived >::y ( )

inline

Returns

a reference to the y coefficient (if Derived is a non-const lvalue)

Definition at line 79 of file Quaternion.h.

{ return this->derived().coeffs().y(); }

Code

y() [2/2]

template<class Derived >

CoeffReturnType Eigen::QuaternionBase< Derived >::y ( ) const

inline

Returns

the y coefficient

Definition at line 70 of file Quaternion.h.

{ return this->derived().coeffs().coeff(1); }

Code

z() [1/2]

template<class Derived >

NonConstCoeffReturnType Eigen::QuaternionBase< Derived >::z ( )

inline

Returns

a reference to the z coefficient (if Derived is a non-const lvalue)

Definition at line 81 of file Quaternion.h.

{ return this->derived().coeffs().z(); }

Code

z() [2/2]

template<class Derived >

CoeffReturnType Eigen::QuaternionBase< Derived >::z ( ) const

inline

Returns

the z coefficient

Definition at line 72 of file Quaternion.h.

{ return this->derived().coeffs().coeff(2); }

Code

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The documentation for this class was generated from the following files:

• ForwardDeclarations.h
• Quaternion.h