State in SO(3), a spatial rotation. More...
#include <SO3.hpp>
Inheritance diagram for aikido::statespace::SO3::State:
Public Types | |
| using | Quaternion = Eigen::Quaternion< double, Eigen::DontAlign > |
Public Member Functions | |
| State () | |
| Constructs the identity element. | |
| State (const Quaternion &_quaternion) | |
| Constructs a state in SO(3) from a unit quaternion. More... | |
| const Quaternion & | getQuaternion () const |
| Gets a state as a unit quaternion. More... | |
| void | setQuaternion (const Quaternion &_quaternion) |
| Sets a state to a unit quaternion. More... | |
Friends | |
| class | SO3 |
Additional Inherited Members | |
 Protected Member Functions inherited from aikido::statespace::StateSpace::State | |
| State ()=default | |
| This is a base class that should only only be used in derived classes. | |
| ~State ()=default | |
| It is unsafe to call this, since it is a non-virtual destructor. More... | |
Detailed Description
State in SO(3), a spatial rotation.
Constructor & Destructor Documentation
§ State()
|
explicit |
Constructs a state in SO(3) from a unit quaternion.
- Parameters
-
_quaternion unit quaternion representing orientation
Member Function Documentation
§ getQuaternion()
| auto aikido::statespace::SO3::State::getQuaternion | ( | ) | const |
Gets a state as a unit quaternion.
- Returns
- unit quaternion representing orientation
§ setQuaternion()
| void aikido::statespace::SO3::State::setQuaternion | ( | const Quaternion & | _quaternion | ) |
Sets a state to a unit quaternion.
- Parameters
-
_quaternion unit quaternion representing orientation
The documentation for this class was generated from the following files:
- include/aikido/statespace/SO3.hpp
- src/statespace/SO3.cpp
