Kindr
Kinematics and Dynamics for Robotics

Base class that defines the interface of a quaternion This class defines a generic interface for a quaternion. More...
#include <QuaternionBase.hpp>
Public Member Functions  
Derived_ &  invert () 
inverts the quaternion More...  
Derived_  inverted () const 
gets the inverse of the quaternion More...  
Derived_ &  conjugate () 
conjugates the quaternion More...  
Derived_  conjugated () const 
gets the conjugate of the quaternion More...  
operator Derived_ & ()  
gets the derived quaternion (only for advanced users) More...  
operator const Derived_ & () const  
gets the derived quaternion (only for advanced users) More...  
Derived_ &  derived () 
gets the derived quaternion (only for advanced users) More...  
const Derived_ &  derived () const 
gets the derived quaternion (only for advanced users) More...  
template<typename OtherDerived_ >  
Derived_  operator* (const QuaternionBase< OtherDerived_ > &other) const 
multiplies the quaternion with another quaternion More...  
template<typename OtherDerived_ >  
bool  operator== (const QuaternionBase< OtherDerived_ > &other) const 
compares the quaternion with another quaternion More...  
Friends  
std::ostream &  operator<< (std::ostream &out, const QuaternionBase< Derived_ > &quat) 
prints the coefficients of the quaternion More...  
Base class that defines the interface of a quaternion This class defines a generic interface for a quaternion.
Derived_  the derived class that should implement the quaternion 
Definition at line 76 of file QuaternionBase.hpp.
Derived_& kindr::QuaternionBase< Derived_ >::conjugate  (  ) 
conjugates the quaternion
Derived_ kindr::QuaternionBase< Derived_ >::conjugated  (  )  const 
gets the conjugate of the quaternion

inline 
gets the derived quaternion (only for advanced users)
Definition at line 117 of file QuaternionBase.hpp.

inline 
gets the derived quaternion (only for advanced users)
Definition at line 124 of file QuaternionBase.hpp.
Derived_& kindr::QuaternionBase< Derived_ >::invert  (  ) 
inverts the quaternion
Derived_ kindr::QuaternionBase< Derived_ >::inverted  (  )  const 
gets the inverse of the quaternion

inline 
gets the derived quaternion (only for advanced users)
Definition at line 110 of file QuaternionBase.hpp.

inline 
gets the derived quaternion (only for advanced users)
Definition at line 102 of file QuaternionBase.hpp.

inline 
multiplies the quaternion with another quaternion
other  other other quaternion 
Definition at line 133 of file QuaternionBase.hpp.

inline 
compares the quaternion with another quaternion
other  other quaternion 
Definition at line 147 of file QuaternionBase.hpp.

friend 
prints the coefficients of the quaternion
Definition at line 154 of file QuaternionBase.hpp.