Kindr
Kinematics and Dynamics for Robotics
kindr::RotationQuaternion< PrimType_ > Class Template Reference

Implementation of quaternion rotation based on Eigen::Quaternion. More...

#include <Rotation.hpp>

Inheritance diagram for kindr::RotationQuaternion< PrimType_ >:
Inheritance graph

Public Types

typedef Base::Implementation Implementation
 The implementation type. The implementation type is always an Eigen object. More...
 
typedef PrimType_ Scalar
 The primitive type. Float/Double. More...
 
typedef Eigen::Matrix< PrimType_, 3, 1 > Imaginary
 the imaginary type, i.e., Eigen::Quaternion<> More...
 
typedef Eigen::Matrix< PrimType_, 4, 1 > Vector4
 quaternion as 4x1 matrix: [w; x; y; z] More...
 

Public Member Functions

 RotationQuaternion ()
 Default constructor using identity rotation. More...
 
 RotationQuaternion (Scalar w, Scalar x, Scalar y, Scalar z)
 Constructor using four scalars. In debug mode, an assertion is thrown if the quaternion has not unit length. More...
 
 RotationQuaternion (Scalar real, const Imaginary &imag)
 Constructor using real and imaginary part. In debug mode, an assertion is thrown if the quaternion has not unit length. More...
 
 RotationQuaternion (const Vector4 &vec)
 Constructor using Eigen::Matrix<PrimType_,4,1>. In debug mode, an assertion is thrown if the quaternion has not unit length. More...
 
 RotationQuaternion (const Implementation &other)
 Constructor using Eigen::Quaternion<PrimType_>. In debug mode, an assertion is thrown if the quaternion has not unit length. More...
 
 RotationQuaternion (const Base &other)
 Constructor using UnitQuaternion. In debug mode, an assertion is thrown if the quaternion has not unit length. More...
 
template<typename OtherDerived_ >
 RotationQuaternion (const RotationBase< OtherDerived_ > &other)
 Constructor using another rotation. More...
 
Scalar w () const
 
Scalar x () const
 
Scalar y () const
 
Scalar z () const
 
Scalarw ()
 
Scalarx ()
 
Scalary ()
 
Scalarz ()
 
Scalar real () const
 
Imaginary imaginary () const
 
Vector4 vector () const
 
void setValues (Scalar w, Scalar x, Scalar y, Scalar z)
 
void setParts (Scalar real, const Imaginary &imag)
 
ImplementationtoImplementation ()
 Cast to the implementation type. More...
 
const ImplementationtoImplementation () const
 Cast to the implementation type. More...
 
BasetoUnitQuaternion ()
 
const BasetoUnitQuaternion () const
 
template<typename PrimTypeIn_ >
RotationQuaternionoperator= (const UnitQuaternion< PrimTypeIn_ > &quat)
 Assignment operator using a UnitQuaternion. More...
 
template<typename OtherDerived_ >
RotationQuaternionoperator= (const RotationBase< OtherDerived_ > &other)
 Assignment operator using another rotation. More...
 
template<typename PrimTypeIn_ >
RotationQuaternionoperator= (const RotationQuaternion< PrimTypeIn_ > &other)
 Assignment operator using another rotation. More...
 
template<typename PrimTypeIn_ >
RotationQuaternionoperator() (const UnitQuaternion< PrimTypeIn_ > &quat)
 Bracket operator which assigns a UnitQuaternion to the RotationQuaternion. More...
 
template<typename PrimTypeIn_ >
RotationQuaternionoperator() (const Quaternion< PrimTypeIn_ > &quat)
 Bracket operator which assigns a Quaternion to the RotationQuaternion. In debug mode, an assertion is thrown if the quaternion has not unit length. More...
 
template<typename OtherDerived_ >
RotationQuaternionoperator() (const RotationBase< OtherDerived_ > &other)
 Parenthesis operator to convert from another rotation. More...
 
RotationQuaternion inverted () const
 Returns the inverse of the rotation. More...
 
RotationQuaternioninvert ()
 Inverts the rotation. More...
 
RotationQuaternion conjugated () const
 Returns the conjugated of the quaternion. More...
 
RotationQuaternionconjugate ()
 Conjugates of the quaternion. More...
 
RotationQuaternionsetIdentity ()
 Sets the rotation to identity. More...
 
RotationQuaternion getUnique () const
 Returns a unique quaternion rotation with w > 0. This function is used to compare different rotations. More...
 
Eigen::Matrix< PrimType_, 4, 4 > getQuaternionMatrix () const
 Returns the quaternion matrix Qleft: q*p = Qleft(q)*p This function can be used to get the derivative of the concatenation with respect to the right quaternion. More...
 
Eigen::Matrix< PrimType_, 4, 4 > getConjugateQuaternionMatrix () const
 Returns the quaternion matrix Qright: q*p = Qright(p)*q This function can be used to get the derivative of the concatenation with respect to the left quaternion. More...
 
Eigen::Matrix< PrimType_, 3, 4 > getGlobalQuaternionDiffMatrix () const
 Returns the global quaternion diff matrix H: GlobalAngularVelocity = 2*H*qdiff, qdiff = 0.5*H^T*GlobalAngularVelocity. More...
 
Eigen::Matrix< PrimType_, 3, 4 > getLocalQuaternionDiffMatrix () const
 Returns the local quaternion diff matrix HBar: LocalAngularVelocity = 2*HBar*qdiff, qdiff = 0.5*HBar^T*LocalAngularVelocity. More...
 
RotationQuaternionsetUnique ()
 Modifies the quaternion rotation such that w >= 0. More...
 
Scalar norm ()
 Returns the norm of the quaternion. The RotationQuaternion should always have unit length. More...
 
- Public Member Functions inherited from kindr::RotationBase< RotationQuaternion< PrimType_ > >
 RotationBase ()=default
 Standard constructor. Creates an empty generic rotation object. More...
 
 RotationBase (const RotationQuaternion< PrimType_ > &)=delete
 Constructor from derived rotation. This constructor has been deleted because the abstract class does not contain any data. More...
 
RotationBase inverted () const
 Returns the inverse of the rotation. More...
 
RotationBaseinvert ()
 Inverts the rotation. More...
 
 operator RotationQuaternion< PrimType_ > & ()
 Gets the derived rotation. (only for advanced users) More...
 
 operator const RotationQuaternion< PrimType_ > & () const
 Gets the derived rotation. (only for advanced users) More...
 
RotationQuaternion< PrimType_ > & derived ()
 Gets the derived rotation. (only for advanced users) More...
 
const RotationQuaternion< PrimType_ > & derived () const
 Gets the derived rotation. (only for advanced users) More...
 
RotationQuaternion< PrimType_ > & setIdentity ()
 Sets the rotation to the identity rotation. More...
 
RotationQuaternion< PrimType_ > & setRandom ()
 Sets the rotation to a random one. More...
 
RotationQuaternion< PrimType_ > getRandom () const
 Returns a random rotation. More...
 
RotationQuaternion< PrimType_ > getUnique () const
 Returns the rotation in a unique form This function is used to compare different rotations. More...
 
RotationQuaternion< PrimType_ > & setUnique ()
 Modifies the rotation such that it is in its unique form. More...
 
RotationQuaternion< PrimType_ > operator* (const RotationBase< OtherDerived_ > &other) const
 Concatenates two rotations. More...
 
bool operator== (const RotationBase< OtherDerived_ > &other) const
 Compares two rotations. More...
 
internal::get_scalar< RotationQuaternion< PrimType_ > >::Scalar getDisparityAngle (const RotationBase< OtherDerived_ > &other) const
 Gets the disparity angle between two rotations for comparison. More...
 
bool isNear (const RotationBase< OtherDerived_ > &other, typename internal::get_scalar< RotationQuaternion< PrimType_ > >::Scalar tol) const
 Compares two rotations with a tolerance. More...
 
internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< Cols > rotate (const typename internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< Cols > &matrix) const
 Rotates a vector or a matrix column-wise. More...
 
Vector_ rotate (const Vector_ &vector) const
 Rotates a vector. More...
 
internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< Cols > inverseRotate (const typename internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< Cols > &matrix) const
 Rotates a vector or matrix in reverse. More...
 
Vector_ inverseRotate (const Vector_ &vector) const
 Rotates a vector in reverse. More...
 
RotationQuaternion< PrimType_ > exponentialMap (const typename internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< 1 > &vector)
 Sets the rotation using an exponential map. More...
 
internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< 1 > logarithmicMap () const
 Gets the logarithmic map from the rotation. More...
 
internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< 1 > boxMinus (const RotationBase< OtherDerived_ > &other) const
 Applies the box minus operation. More...
 
RotationQuaternion< PrimType_ > boxPlus (const typename internal::get_matrix3X< RotationQuaternion< PrimType_ > >::template Matrix3X< 1 > &vector) const
 Applies the box plus operation. More...
 
RotationQuaternion< PrimType_ > & setFromVectors (const Vector_ &B_v, const Vector_ &I_v)
 Sets the rotation C_IB from two vectors such that I_v = C_IB*B_v i.e. I_v = this->rotate(B_v). More...
 
void fix ()
 Fixes the rotation to get rid of numerical errors (e.g. normalize quaternion). More...
 

Private Types

typedef UnitQuaternion< PrimType_ > Base
 The base type. More...
 

Private Attributes

Base rotationQuaternion_
 The data container. More...
 

Friends

std::ostream & operator<< (std::ostream &out, const RotationQuaternion &rquat)
 Used for printing the object with std::cout. More...
 

Detailed Description

template<typename PrimType_>
class kindr::RotationQuaternion< PrimType_ >

Implementation of quaternion rotation based on Eigen::Quaternion.

The following four typedefs are provided for convenience:

Template Parameters
PrimType_the primitive type of the data (double or float)

Definition at line 46 of file Rotation.hpp.

Member Typedef Documentation

◆ Base

template<typename PrimType_>
typedef UnitQuaternion<PrimType_> kindr::RotationQuaternion< PrimType_ >::Base
private

The base type.

Definition at line 59 of file RotationQuaternion.hpp.

◆ Imaginary

template<typename PrimType_>
typedef Eigen::Matrix<PrimType_,3,1> kindr::RotationQuaternion< PrimType_ >::Imaginary

the imaginary type, i.e., Eigen::Quaternion<>

Definition at line 76 of file RotationQuaternion.hpp.

◆ Implementation

template<typename PrimType_>
typedef Base::Implementation kindr::RotationQuaternion< PrimType_ >::Implementation

The implementation type. The implementation type is always an Eigen object.

Definition at line 68 of file RotationQuaternion.hpp.

◆ Scalar

template<typename PrimType_>
typedef PrimType_ kindr::RotationQuaternion< PrimType_ >::Scalar

The primitive type. Float/Double.

Definition at line 73 of file RotationQuaternion.hpp.

◆ Vector4

template<typename PrimType_>
typedef Eigen::Matrix<PrimType_,4,1> kindr::RotationQuaternion< PrimType_ >::Vector4

quaternion as 4x1 matrix: [w; x; y; z]

Definition at line 79 of file RotationQuaternion.hpp.

Constructor & Destructor Documentation

◆ RotationQuaternion() [1/7]

template<typename PrimType_>
kindr::RotationQuaternion< PrimType_ >::RotationQuaternion ( )
inline

Default constructor using identity rotation.

Definition at line 83 of file RotationQuaternion.hpp.

◆ RotationQuaternion() [2/7]

template<typename PrimType_>
kindr::RotationQuaternion< PrimType_ >::RotationQuaternion ( Scalar  w,
Scalar  x,
Scalar  y,
Scalar  z 
)
inline

Constructor using four scalars. In debug mode, an assertion is thrown if the quaternion has not unit length.

Parameters
wfirst entry of the quaternion = cos(phi/2)
xsecond entry of the quaternion = n1*sin(phi/2)
ythird entry of the quaternion = n2*sin(phi/2)
zfourth entry of the quaternion = n3*sin(phi/2)

Definition at line 94 of file RotationQuaternion.hpp.

◆ RotationQuaternion() [3/7]

template<typename PrimType_>
kindr::RotationQuaternion< PrimType_ >::RotationQuaternion ( Scalar  real,
const Imaginary imag 
)
inline

Constructor using real and imaginary part. In debug mode, an assertion is thrown if the quaternion has not unit length.

Parameters
realreal part (PrimType_)
imagimaginary part (Eigen::Matrix<PrimType_,3,1>)

Definition at line 104 of file RotationQuaternion.hpp.

◆ RotationQuaternion() [4/7]

template<typename PrimType_>
kindr::RotationQuaternion< PrimType_ >::RotationQuaternion ( const Vector4 vec)
inline

Constructor using Eigen::Matrix<PrimType_,4,1>. In debug mode, an assertion is thrown if the quaternion has not unit length.

Parameters
otherEigen::Matrix<PrimType_,4,1>

Definition at line 113 of file RotationQuaternion.hpp.

◆ RotationQuaternion() [5/7]

template<typename PrimType_>
kindr::RotationQuaternion< PrimType_ >::RotationQuaternion ( const Implementation other)
inlineexplicit

Constructor using Eigen::Quaternion<PrimType_>. In debug mode, an assertion is thrown if the quaternion has not unit length.

Parameters
otherEigen::Quaternion<PrimType_>

Definition at line 122 of file RotationQuaternion.hpp.

◆ RotationQuaternion() [6/7]

template<typename PrimType_>
kindr::RotationQuaternion< PrimType_ >::RotationQuaternion ( const Base other)
inlineexplicit

Constructor using UnitQuaternion. In debug mode, an assertion is thrown if the quaternion has not unit length.

Parameters
otherUnitQuaternion

Definition at line 131 of file RotationQuaternion.hpp.

◆ RotationQuaternion() [7/7]

template<typename PrimType_>
template<typename OtherDerived_ >
kindr::RotationQuaternion< PrimType_ >::RotationQuaternion ( const RotationBase< OtherDerived_ > &  other)
inlineexplicit

Constructor using another rotation.

Parameters
otherother rotation

Definition at line 140 of file RotationQuaternion.hpp.

Member Function Documentation

◆ conjugate()

template<typename PrimType_>
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::conjugate ( )
inline

Conjugates of the quaternion.

Returns
reference

Definition at line 313 of file RotationQuaternion.hpp.

◆ conjugated()

template<typename PrimType_>
RotationQuaternion kindr::RotationQuaternion< PrimType_ >::conjugated ( ) const
inline

Returns the conjugated of the quaternion.

Returns
conjugated of the quaternion

Definition at line 306 of file RotationQuaternion.hpp.

◆ getConjugateQuaternionMatrix()

template<typename PrimType_>
Eigen::Matrix<PrimType_,4,4> kindr::RotationQuaternion< PrimType_ >::getConjugateQuaternionMatrix ( ) const
inline

Returns the quaternion matrix Qright: q*p = Qright(p)*q This function can be used to get the derivative of the concatenation with respect to the left quaternion.

Returns
the quaternion matrix Qright

Definition at line 380 of file RotationQuaternion.hpp.

◆ getGlobalQuaternionDiffMatrix()

template<typename PrimType_>
Eigen::Matrix<PrimType_,3,4> kindr::RotationQuaternion< PrimType_ >::getGlobalQuaternionDiffMatrix ( ) const
inline

Returns the global quaternion diff matrix H: GlobalAngularVelocity = 2*H*qdiff, qdiff = 0.5*H^T*GlobalAngularVelocity.

Returns
the global quaternion diff matrix H

Definition at line 393 of file RotationQuaternion.hpp.

◆ getLocalQuaternionDiffMatrix()

template<typename PrimType_>
Eigen::Matrix<PrimType_,3,4> kindr::RotationQuaternion< PrimType_ >::getLocalQuaternionDiffMatrix ( ) const
inline

Returns the local quaternion diff matrix HBar: LocalAngularVelocity = 2*HBar*qdiff, qdiff = 0.5*HBar^T*LocalAngularVelocity.

Returns
the local quaternion diff matrix HBar

Definition at line 404 of file RotationQuaternion.hpp.

◆ getQuaternionMatrix()

template<typename PrimType_>
Eigen::Matrix<PrimType_,4,4> kindr::RotationQuaternion< PrimType_ >::getQuaternionMatrix ( ) const
inline

Returns the quaternion matrix Qleft: q*p = Qleft(q)*p This function can be used to get the derivative of the concatenation with respect to the right quaternion.

Returns
the quaternion matrix Qleft

Definition at line 366 of file RotationQuaternion.hpp.

◆ getUnique()

template<typename PrimType_>
RotationQuaternion kindr::RotationQuaternion< PrimType_ >::getUnique ( ) const
inline

Returns a unique quaternion rotation with w > 0. This function is used to compare different rotations.

Returns
copy of the quaternion rotation which is unique

Definition at line 333 of file RotationQuaternion.hpp.

◆ imaginary()

template<typename PrimType_>
Imaginary kindr::RotationQuaternion< PrimType_ >::imaginary ( ) const
inline

Definition at line 180 of file RotationQuaternion.hpp.

◆ invert()

template<typename PrimType_>
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::invert ( )
inline

Inverts the rotation.

Returns
reference

Definition at line 298 of file RotationQuaternion.hpp.

◆ inverted()

template<typename PrimType_>
RotationQuaternion kindr::RotationQuaternion< PrimType_ >::inverted ( ) const
inline

Returns the inverse of the rotation.

Returns
the inverse of the rotation

Definition at line 291 of file RotationQuaternion.hpp.

◆ norm()

template<typename PrimType_>
Scalar kindr::RotationQuaternion< PrimType_ >::norm ( )
inline

Returns the norm of the quaternion. The RotationQuaternion should always have unit length.

Returns
norm of the quaternion

Definition at line 424 of file RotationQuaternion.hpp.

◆ operator()() [1/3]

template<typename PrimType_>
template<typename PrimTypeIn_ >
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::operator() ( const UnitQuaternion< PrimTypeIn_ > &  quat)
inline

Bracket operator which assigns a UnitQuaternion to the RotationQuaternion.

Parameters
quatUnitQuaternion
Returns
reference

Definition at line 261 of file RotationQuaternion.hpp.

◆ operator()() [2/3]

template<typename PrimType_>
template<typename PrimTypeIn_ >
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::operator() ( const Quaternion< PrimTypeIn_ > &  quat)
inline

Bracket operator which assigns a Quaternion to the RotationQuaternion. In debug mode, an assertion is thrown if the quaternion has not unit length.

Parameters
quatQuaternion
Returns
reference

Definition at line 272 of file RotationQuaternion.hpp.

◆ operator()() [3/3]

template<typename PrimType_>
template<typename OtherDerived_ >
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::operator() ( const RotationBase< OtherDerived_ > &  other)
inline

Parenthesis operator to convert from another rotation.

Parameters
otherother rotation
Returns
reference

Definition at line 283 of file RotationQuaternion.hpp.

◆ operator=() [1/3]

template<typename PrimType_>
template<typename PrimTypeIn_ >
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::operator= ( const UnitQuaternion< PrimTypeIn_ > &  quat)
inline

Assignment operator using a UnitQuaternion.

Parameters
quatUnitQuaternion
Returns
reference

Definition at line 231 of file RotationQuaternion.hpp.

◆ operator=() [2/3]

template<typename PrimType_>
template<typename OtherDerived_ >
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::operator= ( const RotationBase< OtherDerived_ > &  other)
inline

Assignment operator using another rotation.

Parameters
otherother rotation
Returns
reference

Definition at line 241 of file RotationQuaternion.hpp.

◆ operator=() [3/3]

template<typename PrimType_>
template<typename PrimTypeIn_ >
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::operator= ( const RotationQuaternion< PrimTypeIn_ > &  other)
inline

Assignment operator using another rotation.

Parameters
otherother rotation
Returns
reference

Definition at line 251 of file RotationQuaternion.hpp.

◆ real()

template<typename PrimType_>
Scalar kindr::RotationQuaternion< PrimType_ >::real ( ) const
inline

Definition at line 176 of file RotationQuaternion.hpp.

◆ setIdentity()

template<typename PrimType_>
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::setIdentity ( )
inline

Sets the rotation to identity.

Returns
reference

Definition at line 321 of file RotationQuaternion.hpp.

◆ setParts()

template<typename PrimType_>
void kindr::RotationQuaternion< PrimType_ >::setParts ( Scalar  real,
const Imaginary imag 
)
inline

Definition at line 197 of file RotationQuaternion.hpp.

◆ setUnique()

template<typename PrimType_>
RotationQuaternion& kindr::RotationQuaternion< PrimType_ >::setUnique ( )
inline

Modifies the quaternion rotation such that w >= 0.

Returns
reference

Definition at line 415 of file RotationQuaternion.hpp.

◆ setValues()

template<typename PrimType_>
void kindr::RotationQuaternion< PrimType_ >::setValues ( Scalar  w,
Scalar  x,
Scalar  y,
Scalar  z 
)
inline

Definition at line 190 of file RotationQuaternion.hpp.

◆ toImplementation() [1/2]

template<typename PrimType_>
Implementation& kindr::RotationQuaternion< PrimType_ >::toImplementation ( )
inline

Cast to the implementation type.

Returns
the implementation for direct manipulation (recommended only for advanced users)

Definition at line 207 of file RotationQuaternion.hpp.

◆ toImplementation() [2/2]

template<typename PrimType_>
const Implementation& kindr::RotationQuaternion< PrimType_ >::toImplementation ( ) const
inline

Cast to the implementation type.

Returns
the implementation for direct manipulation (recommended only for advanced users)

Definition at line 214 of file RotationQuaternion.hpp.

◆ toUnitQuaternion() [1/2]

template<typename PrimType_>
Base& kindr::RotationQuaternion< PrimType_ >::toUnitQuaternion ( )
inline

Definition at line 218 of file RotationQuaternion.hpp.

◆ toUnitQuaternion() [2/2]

template<typename PrimType_>
const Base& kindr::RotationQuaternion< PrimType_ >::toUnitQuaternion ( ) const
inline

Definition at line 222 of file RotationQuaternion.hpp.

◆ vector()

template<typename PrimType_>
Vector4 kindr::RotationQuaternion< PrimType_ >::vector ( ) const
inline

Definition at line 184 of file RotationQuaternion.hpp.

◆ w() [1/2]

template<typename PrimType_>
Scalar kindr::RotationQuaternion< PrimType_ >::w ( ) const
inline

Definition at line 144 of file RotationQuaternion.hpp.

◆ w() [2/2]

template<typename PrimType_>
Scalar& kindr::RotationQuaternion< PrimType_ >::w ( )
inline

Definition at line 160 of file RotationQuaternion.hpp.

◆ x() [1/2]

template<typename PrimType_>
Scalar kindr::RotationQuaternion< PrimType_ >::x ( ) const
inline

Definition at line 148 of file RotationQuaternion.hpp.

◆ x() [2/2]

template<typename PrimType_>
Scalar& kindr::RotationQuaternion< PrimType_ >::x ( )
inline

Definition at line 164 of file RotationQuaternion.hpp.

◆ y() [1/2]

template<typename PrimType_>
Scalar kindr::RotationQuaternion< PrimType_ >::y ( ) const
inline

Definition at line 152 of file RotationQuaternion.hpp.

◆ y() [2/2]

template<typename PrimType_>
Scalar& kindr::RotationQuaternion< PrimType_ >::y ( )
inline

Definition at line 168 of file RotationQuaternion.hpp.

◆ z() [1/2]

template<typename PrimType_>
Scalar kindr::RotationQuaternion< PrimType_ >::z ( ) const
inline

Definition at line 156 of file RotationQuaternion.hpp.

◆ z() [2/2]

template<typename PrimType_>
Scalar& kindr::RotationQuaternion< PrimType_ >::z ( )
inline

Definition at line 172 of file RotationQuaternion.hpp.

Friends And Related Function Documentation

◆ operator<<

template<typename PrimType_>
std::ostream& operator<< ( std::ostream &  out,
const RotationQuaternion< PrimType_ > &  rquat 
)
friend

Used for printing the object with std::cout.

Returns
std::stream object

Definition at line 444 of file RotationQuaternion.hpp.

Member Data Documentation

◆ rotationQuaternion_

template<typename PrimType_>
Base kindr::RotationQuaternion< PrimType_ >::rotationQuaternion_
private

The data container.

Definition at line 63 of file RotationQuaternion.hpp.


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