The definition of a state in SO(3) represented as a unit quaternion. More...
#include <SO3StateSpace.h>
Public Member Functions | |
void | setAxisAngle (double ax, double ay, double az, double angle) |
Set the quaternion from axis-angle representation. | |
void | setIdentity (void) |
Set the state to identity – no rotation. | |
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template<class T > | |
const T * | as (void) const |
Cast this instance to a desired type. More... | |
template<class T > | |
T * | as (void) |
Cast this instance to a desired type. More... | |
Public Attributes | |
double | x |
X component of quaternion vector. | |
double | y |
Y component of quaternion vector. | |
double | z |
Z component of quaternion vector. | |
double | w |
scalar component of quaternion | |
The definition of a state in SO(3) represented as a unit quaternion.
Definition at line 94 of file SO3StateSpace.h.