#include <Quaternion.h>

Inheritance diagram for Eigen::Quaternion< _Scalar >:

Public Types
typedef _Scalar	Scalar
	the scalar type of the coefficients

typedef Matrix< Scalar, 4, 1 >	Coefficients
	the type of the Coefficients 4-vector

typedef Matrix< Scalar, 3, 1 >	Vector3
	the type of a 3D vector

typedef Matrix< Scalar, 3, 3 >	Matrix3
	the equivalent rotation matrix type

typedef AngleAxis< Scalar >	AngleAxisType
	the equivalent angle-axis type

typedef _Scalar	Scalar

typedef internal::traits< Quaternion >::Coefficients	Coefficients

typedef Base::AngleAxisType	AngleAxisType

Public Types inherited from Eigen::QuaternionBase< Quaternion< _Scalar, _Options > >
enum

typedef internal::traits< Quaternion< _Scalar, _Options > >::Scalar	Scalar

typedef NumTraits< Scalar >::Real	RealScalar

typedef internal::traits< Quaternion< _Scalar, _Options > >::Coefficients	Coefficients

typedef Matrix< Scalar, 3, 1 >	Vector3
	the type of a 3D vector

typedef Matrix< Scalar, 3, 3 >	Matrix3
	the equivalent rotation matrix type

typedef AngleAxis< Scalar >	AngleAxisType
	the equivalent angle-axis type

Public Types inherited from Eigen::RotationBase< Quaternion< _Scalar, _Options >, 3 >
enum

enum

typedef ei_traits< Quaternion< _Scalar, _Options > >::Scalar	Scalar
	the scalar type of the coefficients

typedef internal::traits< Quaternion< _Scalar, _Options > >::Scalar	Scalar
	the scalar type of the coefficients

typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
	corresponding linear transformation matrix type

typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
	corresponding linear transformation matrix type

typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Types inherited from Eigen::RotationBase< Quaternion< _Scalar >, 3 >
enum

enum

typedef ei_traits< Quaternion< _Scalar > >::Scalar	Scalar
	the scalar type of the coefficients

typedef internal::traits< Quaternion< _Scalar > >::Scalar	Scalar
	the scalar type of the coefficients

typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
	corresponding linear transformation matrix type

typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
	corresponding linear transformation matrix type

typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Member Functions
Scalar	x () const

Scalar	y () const

Scalar	z () const

Scalar	w () const

Scalar &	x ()

Scalar &	y ()

Scalar &	z ()

Scalar &	w ()

const Block< const Coefficients, 3, 1 >	vec () const

Block< Coefficients, 3, 1 >	vec ()

const Coefficients &	coeffs () const

Coefficients &	coeffs ()

	Quaternion ()
	Default constructor leaving the quaternion uninitialized. More...

	Quaternion (Scalar w, Scalar x, Scalar y, Scalar z)
	Constructs and initializes the quaternion \( w+xi+yj+zk \) from its four coefficients w, x, y and z. More...

	Quaternion (const Quaternion &other)
	Copy constructor.

	Quaternion (const AngleAxisType &aa)
	Constructs and initializes a quaternion from the angle-axis aa.

template<typename Derived >
	Quaternion (const MatrixBase< Derived > &other)
	Constructs and initializes a quaternion from either: More...

Quaternion &	operator= (const Quaternion &other)

Quaternion &	operator= (const AngleAxisType &aa)
	Set `this` from an angle-axis aa and returns a reference to `this`.

template<typename Derived >
Quaternion &	operator= (const MatrixBase< Derived > &m)

Quaternion &	setIdentity ()

Scalar	squaredNorm () const

Scalar	norm () const

void	normalize ()
	Normalizes the quaternion `*this`. More...

Quaternion	normalized () const

Scalar	eigen2_dot (const Quaternion &other) const

Scalar	angularDistance (const Quaternion &other) const

Matrix3	toRotationMatrix (void) const
	Convert the quaternion to a 3x3 rotation matrix.

template<typename Derived1 , typename Derived2 >
Quaternion &	setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)

Quaternion	operator* (const Quaternion &q) const

Quaternion &	operator*= (const Quaternion &q)

Quaternion	inverse (void) const

Quaternion	conjugate (void) const

Quaternion	slerp (Scalar t, const Quaternion &other) const

template<typename Derived >
Vector3	operator* (const MatrixBase< Derived > &vec) const
	Rotation of a vector by a quaternion. More...

template<typename NewScalarType >
internal::cast_return_type< Quaternion, Quaternion< NewScalarType > >::type	cast () const

template<typename OtherScalarType >
	Quaternion (const Quaternion< OtherScalarType > &other)
	Copy constructor with scalar type conversion.

bool	isApprox (const Quaternion &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const

	Quaternion ()
	Default constructor leaving the quaternion uninitialized. More...

	Quaternion (const Scalar &w, const Scalar &x, const Scalar &y, const Scalar &z)
	Constructs and initializes the quaternion \( w+xi+yj+zk \) from its four coefficients w, x, y and z. More...

	Quaternion (const Scalar *data)
	Constructs and initialize a quaternion from the array data.

template<class Derived >
EIGEN_STRONG_INLINE	Quaternion (const QuaternionBase< Derived > &other)
	Copy constructor.

	Quaternion (const AngleAxisType &aa)
	Constructs and initializes a quaternion from the angle-axis aa.

template<typename Derived >
	Quaternion (const MatrixBase< Derived > &other)
	Constructs and initializes a quaternion from either: More...

template<typename OtherScalar , int OtherOptions>
	Quaternion (const Quaternion< OtherScalar, OtherOptions > &other)
	Explicit copy constructor with scalar conversion.

Coefficients &	coeffs ()

const Coefficients &	coeffs () const

template<typename Derived >
Quaternion< Scalar > &	operator= (const MatrixBase< Derived > &xpr)
	Set `this` from the expression xpr:* More...

template<typename Derived1 , typename Derived2 >
Quaternion< Scalar > &	setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)
	Sets *this to be a quaternion representing a rotation sending the vector a to the vector b. More...

template<typename Derived1 , typename Derived2 >
Quaternion< Scalar, Options >	FromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)
	Returns a quaternion representing a rotation between the two arbitrary vectors a and b. More...

Public Member Functions inherited from Eigen::QuaternionBase< Quaternion< _Scalar, _Options > >
Scalar	x () const

Scalar &	x ()

Scalar	y () const

Scalar &	y ()

Scalar	z () const

Scalar &	z ()

Scalar	w () const

Scalar &	w ()

const VectorBlock< const Coefficients, 3 >	vec () const

VectorBlock< Coefficients, 3 >	vec ()

const internal::traits< Quaternion< _Scalar, _Options > >::Coefficients &	coeffs () const

internal::traits< Quaternion< _Scalar, _Options > >::Coefficients &	coeffs ()

EIGEN_STRONG_INLINE QuaternionBase< Quaternion< _Scalar, _Options > > &	operator= (const QuaternionBase< Quaternion< _Scalar, _Options > > &other)

EIGEN_STRONG_INLINE Quaternion< _Scalar, _Options > &	operator= (const QuaternionBase< OtherDerived > &other)

Quaternion< _Scalar, _Options > &	operator= (const AngleAxisType &aa)
	Set `this` from an angle-axis aa and returns a reference to `this`.

Quaternion< _Scalar, _Options > &	operator= (const MatrixBase< OtherDerived > &m)

Quaternion< _Scalar, _Options > &	operator= (const MatrixBase< MatrixDerived > &xpr)
	Set `this` from the expression xpr:* More...

QuaternionBase &	setIdentity ()

Scalar	squaredNorm () const

Scalar	norm () const

void	normalize ()
	Normalizes the quaternion `*this`. More...

Quaternion< Scalar >	normalized () const

Scalar	dot (const QuaternionBase< OtherDerived > &other) const

Scalar	angularDistance (const QuaternionBase< OtherDerived > &other) const

internal::traits< Quaternion< _Scalar, _Options > >::Scalar	angularDistance (const QuaternionBase< OtherDerived > &other) const

Matrix3	toRotationMatrix () const
	Convert the quaternion to a 3x3 rotation matrix. More...

Quaternion< _Scalar, _Options > &	setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)
	Sets `*this` to be a quaternion representing a rotation between the two arbitrary vectors a and b. More...

EIGEN_STRONG_INLINE Quaternion< Scalar >	operator* (const QuaternionBase< OtherDerived > &q) const

EIGEN_STRONG_INLINE Quaternion< typename internal::traits< Quaternion< _Scalar, _Options > >::Scalar >	operator* (const QuaternionBase< OtherDerived > &other) const

EIGEN_STRONG_INLINE Quaternion< _Scalar, _Options > &	operator*= (const QuaternionBase< OtherDerived > &q)

Quaternion< Scalar >	inverse () const

Quaternion< Scalar >	conjugate () const

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

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

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

EIGEN_STRONG_INLINE Vector3	_transformVector (const Vector3 &v) const
	return the result vector of v through the rotation More...

internal::cast_return_type< Quaternion< _Scalar, _Options >, Quaternion< NewScalarType > >::type	cast () const

Public Member Functions inherited from Eigen::RotationBase< Quaternion< _Scalar, _Options >, 3 >
const Quaternion< _Scalar, _Options > &	derived () const

Quaternion< _Scalar, _Options > &	derived ()

const Quaternion< _Scalar, _Options > &	derived () const

Quaternion< _Scalar, _Options > &	derived ()

RotationMatrixType	toRotationMatrix () const

RotationMatrixType	toRotationMatrix () const

Quaternion< _Scalar, _Options >	inverse () const

Quaternion< _Scalar, _Options >	inverse () const

Transform< Scalar, Dim >	operator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType	operator* (const Scaling< Scalar, Dim > &s) const

Transform< Scalar, Dim >	operator* (const Transform< Scalar, Dim > &t) const

Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const

EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< Quaternion< _Scalar, _Options >, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const

Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const

RotationMatrixType	matrix () const

VectorType	_transformVector (const OtherVectorType &v) const

Public Member Functions inherited from Eigen::RotationBase< Quaternion< _Scalar >, 3 >
const Quaternion< _Scalar > &	derived () const

Quaternion< _Scalar > &	derived ()

const Quaternion< _Scalar > &	derived () const

Quaternion< _Scalar > &	derived ()

RotationMatrixType	toRotationMatrix () const

RotationMatrixType	toRotationMatrix () const

Quaternion< _Scalar >	inverse () const

Quaternion< _Scalar >	inverse () const

Transform< Scalar, Dim >	operator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType	operator* (const Scaling< Scalar, Dim > &s) const

Transform< Scalar, Dim >	operator* (const Transform< Scalar, Dim > &t) const

Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const

EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< Quaternion< _Scalar >, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const

Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const

RotationMatrixType	matrix () const

VectorType	_transformVector (const OtherVectorType &v) const

Static Public Member Functions
static Quaternion	Identity ()

template<typename Derived1 , typename Derived2 >
static Quaternion	FromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)

Static Public Member Functions inherited from Eigen::QuaternionBase< Quaternion< _Scalar, _Options > >
static Quaternion< Scalar >	Identity ()

Static Protected Member Functions
static EIGEN_STRONG_INLINE void	_check_template_params ()

Protected Attributes
Coefficients	m_coeffs

Detailed Description

template<typename _Scalar>
class Eigen::Quaternion< _Scalar >

The quaternion class used to represent 3D orientations and rotations

Parameters

_Scalar the scalar type, i.e., the type of the coefficients

This class represents a quaternion \( w+xi+yj+zk \) that is a convenient representation of orientations and rotations of objects in three dimensions. Compared to other representations like Euler angles or 3x3 matrices, quatertions offer the following advantages:

compact storage (4 scalars)
efficient to compose (28 flops),
stable spherical interpolation

The following two typedefs are provided for convenience:

Quaternionf for float
Quaterniond for double

See also: class AngleAxis, class Transform

The quaternion class used to represent 3D orientations and rotations

Template Parameters

_Scalar	the scalar type, i.e., the type of the coefficients
_Options	controls the memory alignment of the coefficients. Can be # AutoAlign or # DontAlign. Default is AutoAlign.

This class represents a quaternion \( w+xi+yj+zk \) that is a convenient representation of orientations and rotations of objects in three dimensions. Compared to other representations like Euler angles or 3x3 matrices, quaternions offer the following advantages:

compact storage (4 scalars)
efficient to compose (28 flops),
stable spherical interpolation

The following two typedefs are provided for convenience:

Quaternionf for float
Quaterniond for double

Warning: Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.

See also: class AngleAxis, class Transform

Constructor & Destructor Documentation

§ Quaternion() [1/6]

template<typename _Scalar>

Eigen::Quaternion< _Scalar >::Quaternion ( )

inline

Default constructor leaving the quaternion uninitialized.

§ Quaternion() [2/6]

template<typename _Scalar>

Eigen::Quaternion< _Scalar >::Quaternion	(	Scalar	w,
		Scalar	x,
		Scalar	y,
		Scalar	z
	)

inline

Constructs and initializes the quaternion \( w+xi+yj+zk \) from its four coefficients w, x, y and z.

Warning: Note the order of the arguments: the real w coefficient first, while internally the coefficients are stored in the following order: [x, y, z, w]

§ Quaternion() [3/6]

template<typename _Scalar>

template<typename Derived >

Eigen::Quaternion< _Scalar >::Quaternion ( const MatrixBase< Derived > & other )

inlineexplicit

Constructs and initializes a quaternion from either:

a rotation matrix expression,
a 4D vector expression representing quaternion coefficients.
See also
operator=(MatrixBase<Derived>)

§ Quaternion() [4/6]

template<typename _Scalar>

Eigen::Quaternion< _Scalar >::Quaternion ( )

inline

Default constructor leaving the quaternion uninitialized.

§ Quaternion() [5/6]

template<typename _Scalar>

Eigen::Quaternion< _Scalar >::Quaternion	(	const Scalar &	w,
		const Scalar &	x,
		const Scalar &	y,
		const Scalar &	z
	)

inline

Constructs and initializes the quaternion \( w+xi+yj+zk \) from its four coefficients w, x, y and z.

Warning: Note the order of the arguments: the real w coefficient first, while internally the coefficients are stored in the following order: [x, y, z, w]

§ Quaternion() [6/6]

template<typename _Scalar>

template<typename Derived >

Eigen::Quaternion< _Scalar >::Quaternion ( const MatrixBase< Derived > & other )

inlineexplicit

Constructs and initializes a quaternion from either:

a rotation matrix expression,
a 4D vector expression representing quaternion coefficients.

Member Function Documentation

§ angularDistance()

template<typename Scalar >

Scalar Eigen::Quaternion< Scalar >::angularDistance ( const Quaternion< _Scalar > & other ) const

inline

Returns: the angle (in radian) between two rotations

See also: eigen2_dot()

§ cast()

template<typename _Scalar>

template<typename NewScalarType >

internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type Eigen::Quaternion< _Scalar >::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<typename _Scalar>

const Coefficients& Eigen::Quaternion< _Scalar >::coeffs ( ) const

inline

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

§ coeffs() [2/2]

template<typename _Scalar>

Coefficients& Eigen::Quaternion< _Scalar >::coeffs ( )

inline

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

§ conjugate()

template<typename Scalar >

Quaternion< Scalar > Eigen::Quaternion< Scalar >::conjugate ( void ) const

inline

Returns: 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: Quaternion::inverse()

§ eigen2_dot()

template<typename _Scalar>

Scalar Eigen::Quaternion< _Scalar >::eigen2_dot ( const Quaternion< _Scalar > & 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()

§ FromTwoVectors()

template<typename _Scalar>

template<typename Derived1 , typename Derived2 >

Quaternion<Scalar,Options> Eigen::Quaternion< _Scalar >::FromTwoVectors	(	const MatrixBase< Derived1 > &	a,
		const MatrixBase< Derived2 > &	b
	)

Returns 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: resulting quaternion

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

§ Identity()

template<typename _Scalar>

static Quaternion Eigen::Quaternion< _Scalar >::Identity ( )

inlinestatic

Returns: a quaternion representing an identity rotation

See also: MatrixBase::Identity()

§ inverse()

template<typename Scalar >

Quaternion< Scalar > Eigen::Quaternion< Scalar >::inverse ( void ) const

inline

Returns: 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: Quaternion::conjugate()

§ isApprox()

template<typename _Scalar>

bool Eigen::Quaternion< _Scalar >::isApprox	(	const Quaternion< _Scalar > &	other,
		typename NumTraits< Scalar >::Real	prec = `precision<Scalar>()`
	)		const

inline

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

See also: MatrixBase::isApprox()

§ norm()

template<typename _Scalar>

Scalar Eigen::Quaternion< _Scalar >::norm ( ) const

inline

Returns: the norm of the quaternion's coefficients

See also: Quaternion::squaredNorm(), MatrixBase::norm()

§ normalize()

template<typename _Scalar>

void Eigen::Quaternion< _Scalar >::normalize ( void )

inline

Normalizes the quaternion *this.

See also: normalized(), MatrixBase::normalize()

§ normalized()

template<typename _Scalar>

Quaternion Eigen::Quaternion< _Scalar >::normalized ( ) const

inline

Returns: a normalized version of *this

See also: normalize(), MatrixBase::normalized()

§ operator*() [1/2]

template<typename Scalar >

Quaternion< Scalar > Eigen::Quaternion< Scalar >::operator* ( const Quaternion< _Scalar > & other ) const

inline

Returns: the concatenation of two rotations as a quaternion-quaternion product

§ operator*() [2/2]

template<typename Scalar >

template<typename Derived >

Quaternion< Scalar >::Vector3 Eigen::Quaternion< Scalar >::operator* ( const MatrixBase< Derived > & v ) const

inline

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:

Quaternion: 30n
Via a Matrix3: 24 + 15n

§ operator*=()

template<typename Scalar >

Quaternion< Scalar > & Eigen::Quaternion< Scalar >::operator*= ( const Quaternion< _Scalar > & other )

inline

See also: operator*(Quaternion)

§ operator=()

template<typename _Scalar>

template<typename Derived >

Quaternion<Scalar>& Eigen::Quaternion< _Scalar >::operator= ( const MatrixBase< Derived > & 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

§ setFromTwoVectors()

template<typename _Scalar>

template<typename Derived1 , typename Derived2 >

Quaternion<Scalar>& Eigen::Quaternion< _Scalar >::setFromTwoVectors	(	const MatrixBase< Derived1 > &	a,
		const MatrixBase< Derived2 > &	b
	)

inline

Sets *this to be a quaternion representing a rotation sending the vector a to the vector b.

Returns: a reference to *this.

Note that the two input vectors do not have to be normalized.

§ setIdentity()

template<typename _Scalar>

Quaternion& Eigen::Quaternion< _Scalar >::setIdentity ( )

inline

See also: Quaternion::Identity(), MatrixBase::setIdentity()

§ slerp()

template<typename Scalar >

Quaternion< Scalar > Eigen::Quaternion< Scalar >::slerp	(	Scalar	t,
		const Quaternion< _Scalar > &	other
	)		const

Returns: the spherical linear interpolation between the two quaternions *this and other at the parameter t

§ squaredNorm()

template<typename _Scalar>

Scalar Eigen::Quaternion< _Scalar >::squaredNorm ( ) const

inline

Returns: the squared norm of the quaternion's coefficients

See also: Quaternion::norm(), MatrixBase::squaredNorm()

§ vec() [1/2]

template<typename _Scalar>

const Block<const Coefficients,3,1> Eigen::Quaternion< _Scalar >::vec ( ) const

inline

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

§ vec() [2/2]

template<typename _Scalar>

Block<Coefficients,3,1> Eigen::Quaternion< _Scalar >::vec ( )

inline

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

§ w() [1/2]

template<typename _Scalar>

Scalar Eigen::Quaternion< _Scalar >::w ( ) const

inline

Returns: the w coefficient

§ w() [2/2]

template<typename _Scalar>

Scalar& Eigen::Quaternion< _Scalar >::w ( )

inline

Returns: a reference to the w coefficient

§ x() [1/2]

template<typename _Scalar>

Scalar Eigen::Quaternion< _Scalar >::x ( ) const

inline

Returns: the x coefficient

§ x() [2/2]

template<typename _Scalar>

Scalar& Eigen::Quaternion< _Scalar >::x ( )

inline

Returns: a reference to the x coefficient

§ y() [1/2]

template<typename _Scalar>

Scalar Eigen::Quaternion< _Scalar >::y ( ) const

inline

Returns: the y coefficient

§ y() [2/2]

template<typename _Scalar>

Scalar& Eigen::Quaternion< _Scalar >::y ( )

inline

Returns: a reference to the y coefficient

§ z() [1/2]

template<typename _Scalar>

Scalar Eigen::Quaternion< _Scalar >::z ( ) const

inline

Returns: the z coefficient

§ z() [2/2]

template<typename _Scalar>

Scalar& Eigen::Quaternion< _Scalar >::z ( )

inline

Returns: a reference to the z coefficient

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

vendor/eigen/Eigen/src/Eigen2Support/Geometry/Quaternion.h

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

template<typename _Scalar> class Eigen::Quaternion< _Scalar >

Constructor & Destructor Documentation

§ Quaternion() [1/6]

§ Quaternion() [2/6]

§ Quaternion() [3/6]

§ Quaternion() [4/6]

§ Quaternion() [5/6]

§ Quaternion() [6/6]

Member Function Documentation

§ angularDistance()

§ cast()

§ coeffs() [1/2]

§ coeffs() [2/2]

§ conjugate()

§ eigen2_dot()

§ FromTwoVectors()

§ Identity()

§ inverse()

§ isApprox()

§ norm()

§ normalize()

§ normalized()

§ operator*() [1/2]

§ operator*() [2/2]

§ operator*=()

§ operator=()

§ setFromTwoVectors()

§ setIdentity()

§ slerp()

§ squaredNorm()

§ vec() [1/2]

§ vec() [2/2]

§ w() [1/2]

§ w() [2/2]

§ x() [1/2]

§ x() [2/2]

§ y() [1/2]

§ y() [2/2]

§ z() [1/2]

§ z() [2/2]

template<typename _Scalar>
class Eigen::Quaternion< _Scalar >