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<title>Eigen::Map< Quaternion< _Scalar >, _Options > Class Reference</title>
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<li class="navelem"><a class="el" href="namespace_eigen.html">Eigen</a> </li>
<li class="navelem"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html">Map< Quaternion< _Scalar >, _Options ></a> </li>
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<div class="title">Eigen::Map< Quaternion< _Scalar >, _Options > Class Reference</div> </div>
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<!-- doxytag: class="Eigen::Map< Quaternion< _Scalar >, _Options >" --><!-- doxytag: inherits="QuaternionBase< Map< Quaternion< _Scalar >, _Options > >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Expression of a quaternion from a memory buffer. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">_Scalar</td><td>the type of the <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> coefficients </td></tr>
<tr><td class="paramname">_Options</td><td>see class <a class="el" href="class_eigen_1_1_map.html" title="A matrix or vector expression mapping an existing array of data.">Map</a></td></tr>
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</dd>
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<p>This is a specialization of class <a class="el" href="class_eigen_1_1_map.html" title="A matrix or vector expression mapping an existing array of data.">Map</a> for <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>. This class allows to view a 4 scalar memory buffer as an Eigen's <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> object.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>class <a class="el" href="class_eigen_1_1_map.html" title="A matrix or vector expression mapping an existing array of data.">Map</a>, class <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>, class <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a> </dd></dl>
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Inheritance diagram for Eigen::Map< Quaternion< _Scalar >, _Options >:</div>
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<map name="_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4_inherit__map" id="_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4_inherit__map">
<area shape="rect" id="node2" href="class_eigen_1_1_quaternion_base.html" title="Eigen::QuaternionBase\< Map\< Quaternion\< _Scalar \>, _Options \> \>" alt="" coords="5,264,424,291"/><area shape="rect" id="node4" href="class_eigen_1_1_quaternion_base.html" title="Eigen::QuaternionBase" alt="" coords="137,173,292,200"/><area shape="rect" id="node6" href="class_eigen_1_1_rotation_base.html" title="Eigen::RotationBase\< Derived, 3 \>" alt="" coords="101,96,328,123"/><area shape="rect" id="node8" href="class_eigen_1_1_rotation_base.html" title="Common base class for compact rotation representations." alt="" coords="143,5,285,32"/></map>
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<p><a href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef _Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef internal::traits< <a class="el" href="class_eigen_1_1_map.html">Map</a> ><br class="typebreak"/>
::<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> >::Real </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a1b9e246e6bf68ee12645c83c7c77ee46">RealScalar</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>, 3, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#ae35177f4791e16e4f43fd2591182b517">Vector3</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">the type of a 3D vector <a href="#ae35177f4791e16e4f43fd2591182b517"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>, 3, 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a53df1cea432edc20d7652ccd16fa73c8">Matrix3</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">the equivalent rotation matrix type <a href="#a53df1cea432edc20d7652ccd16fa73c8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_angle_axis.html">AngleAxis</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a26434ee57d8ebb6604398d7510042eb2">AngleAxisType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">the equivalent angle-axis type <a href="#a26434ee57d8ebb6604398d7510042eb2"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad433da3436f74e9b9c576b789ba6eac0">Map</a> (<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> *coeffs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructs a Mapped <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> object from the pointer <em>coeffs</em>. <a href="#ad433da3436f74e9b9c576b789ba6eac0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a2b3ba3c27aab46ce62a9db635dd71339">coeffs</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a56423becb06d122abf1caa879f9d153d">coeffs</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a915b4ce184fb2f48761bc83d1cb3e640">x</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#af62099edde4babe8fa258416f9e73103">x</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a5b8df1542a219034cc8504d0ca0fb535">y</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a826b84e686c608354f6a6e25e4337bb4">y</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aabcd920a99733648863ffb31e607d654">z</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a4c2e5c49e80ce001065dd47aa3a3233a">z</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#ab6092f11d8755a657a499e8f67bfa84b">w</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a88512d2c517e91af3702be9b390285f5">w</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_vector_block.html">VectorBlock</a>< const <br class="typebreak"/>
<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a>, 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a6a798e0ae758d6698c2cd0d48fc4e398">vec</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_vector_block.html">VectorBlock</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a>, 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a28e5b09f233ec3b1297183df22cfb65c">vec</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a47a0a068545d0f13b0ba760e01d81c1c">setIdentity</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#ab3ff4f0efdcc6dcd04a9397d79b285b2">squaredNorm</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#ae1b8ee70bf2a69a55ec072ecede9f1b2">norm</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a894d4f21395f99179cd03003b358bfcb">normalize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalizes the quaternion <code>*this</code>. <a href="#a894d4f21395f99179cd03003b358bfcb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a30b1f050111d9c0afd1d06949f0f7c4c">normalized</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a3aa7c00fbdb44b567e8874017e5b6922">dot</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > &other) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a8a446622ae31b372f9ea144bfd804b15">angularDistance</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > &other) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion_base.html#a53df1cea432edc20d7652ccd16fa73c8">Matrix3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a8f0aa5f26ac59599072c926808ef7c96">toRotationMatrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">Derived & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a7bbc5f68a5a037b25582df0dab75e509">setFromTwoVectors</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< Derived1 > &a, const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< Derived2 > &b)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a1fadda2a47986fb941bc8212d369689f">operator*</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > &q) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE Derived & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a156d9d01a1bae52d348284b7538022af">operator*=</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > &q)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa54954a49104856a6bcb93a02eac9c20">inverse</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#ac63c996973bd257752b4cf81247b9ece">conjugate</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aef0bcdf130aa0e852fffcce628235e08">slerp</a> (<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> t, const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > &other) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa60cf82928ad8c65e35ea3729e83851a">isApprox</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > &other, <a class="el" href="class_eigen_1_1_quaternion_base.html#a1b9e246e6bf68ee12645c83c7c77ee46">RealScalar</a> prec=<a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> >::dummy_precision()) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE <a class="el" href="class_eigen_1_1_quaternion_base.html#ae35177f4791e16e4f43fd2591182b517">Vector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#adfa19f66dc37858f30ad3577cf2fae4b">_transformVector</a> (<a class="el" href="class_eigen_1_1_quaternion_base.html#ae35177f4791e16e4f43fd2591182b517">Vector3</a> v) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">return the result vector of <em>v</em> through the rotation <a href="#adfa19f66dc37858f30ad3577cf2fae4b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_eigen_1_1internal_1_1cast__return__type.html">internal::cast_return_type</a><br class="typebreak"/>
< Derived, <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><br class="typebreak"/>
< NewScalarType > >::type </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa0d1155f1d33bd0c6139db4f4592c28e">cast</a> () const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a6af047252a3faceb78cee0f0b1d02277">Identity</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#af5ff3aeaf87d6a7cdba4de851a427736">m_coeffs</a></td></tr>
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Private Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< <a class="el" href="class_eigen_1_1_map.html">Map</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar ><br class="typebreak"/>
, _Options > > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a12b0cf525b06dcf4693dd8e32b843098">Base</a></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a26434ee57d8ebb6604398d7510042eb2"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::AngleAxisType" ref="a26434ee57d8ebb6604398d7510042eb2" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_angle_axis.html">AngleAxis</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>> <a class="el" href="class_eigen_1_1_quaternion_base.html#a26434ee57d8ebb6604398d7510042eb2">Eigen::QuaternionBase::AngleAxisType</a><code> [inherited]</code></td>
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<p>the equivalent angle-axis type </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00063">63</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a12b0cf525b06dcf4693dd8e32b843098"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::Base" ref="a12b0cf525b06dcf4693dd8e32b843098" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a><<a class="el" href="class_eigen_1_1_map.html">Map</a><<a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><_Scalar>, _Options> > <a class="el" href="class_eigen_1_1_map.html">Eigen::Map</a>< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar >, _Options >::<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a12b0cf525b06dcf4693dd8e32b843098">Base</a><code> [private]</code></td>
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<p>Reimplemented from <a class="el" href="class_eigen_1_1_quaternion_base.html#a330ded970cef07f16671bf2cb5c098c5">Eigen::QuaternionBase< Map< Quaternion< _Scalar >, _Options > ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00384">384</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ad00baac2e7bbfce42d69ec4299100e6c"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::Coefficients" ref="ad00baac2e7bbfce42d69ec4299100e6c" args="" -->
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<td class="memname">typedef internal::traits<<a class="el" href="class_eigen_1_1_map.html">Map</a>>::<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a> <a class="el" href="class_eigen_1_1_map.html">Eigen::Map</a>< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar >, _Options >::<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a></td>
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<p>Reimplemented from <a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Eigen::QuaternionBase< Map< Quaternion< _Scalar >, _Options > ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00388">388</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a53df1cea432edc20d7652ccd16fa73c8"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::Matrix3" ref="a53df1cea432edc20d7652ccd16fa73c8" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>,3,3> <a class="el" href="class_eigen_1_1_quaternion_base.html#a53df1cea432edc20d7652ccd16fa73c8">Eigen::QuaternionBase::Matrix3</a><code> [inherited]</code></td>
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<p>the equivalent rotation matrix type </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00061">61</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a1b9e246e6bf68ee12645c83c7c77ee46"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::RealScalar" ref="a1b9e246e6bf68ee12645c83c7c77ee46" args="" -->
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<td class="memname">typedef <a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>>::Real <a class="el" href="class_eigen_1_1_quaternion_base.html#a1b9e246e6bf68ee12645c83c7c77ee46">Eigen::QuaternionBase::RealScalar</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00051">51</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aa51f781c0c3113e86daa2d99bf586cfc"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::Scalar" ref="aa51f781c0c3113e86daa2d99bf586cfc" args="" -->
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<td class="memname">typedef _Scalar <a class="el" href="class_eigen_1_1_map.html">Eigen::Map</a>< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar >, _Options >::<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a></td>
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<p>Reimplemented from <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Eigen::QuaternionBase< Map< Quaternion< _Scalar >, _Options > ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00387">387</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ae35177f4791e16e4f43fd2591182b517"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::Vector3" ref="ae35177f4791e16e4f43fd2591182b517" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>,3,1> <a class="el" href="class_eigen_1_1_quaternion_base.html#ae35177f4791e16e4f43fd2591182b517">Eigen::QuaternionBase::Vector3</a><code> [inherited]</code></td>
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<p>the type of a 3D vector </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00059">59</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00053">53</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ad433da3436f74e9b9c576b789ba6eac0"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::Map" ref="ad433da3436f74e9b9c576b789ba6eac0" args="(Scalar *coeffs)" -->
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<td class="memname">EIGEN_STRONG_INLINE <a class="el" href="class_eigen_1_1_map.html">Eigen::Map</a>< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar >, _Options >::<a class="el" href="class_eigen_1_1_map.html">Map</a> </td>
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<td class="paramtype"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> * </td>
<td class="paramname"><em>coeffs</em></td><td>)</td>
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<p>Constructs a Mapped <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> object from the pointer <em>coeffs</em>. </p>
<p>The pointer <em>coeffs</em> must reference the four coeffecients of <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> in the following order: </p>
<div class="fragment"><pre class="fragment"> *<a class="code" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a2b3ba3c27aab46ce62a9db635dd71339">coeffs</a> == {<a class="code" href="class_eigen_1_1_quaternion_base.html#a915b4ce184fb2f48761bc83d1cb3e640">x</a>, <a class="code" href="class_eigen_1_1_quaternion_base.html#a5b8df1542a219034cc8504d0ca0fb535">y</a>, <a class="code" href="class_eigen_1_1_quaternion_base.html#aabcd920a99733648863ffb31e607d654">z</a>, <a class="code" href="class_eigen_1_1_quaternion_base.html#ab6092f11d8755a657a499e8f67bfa84b">w</a>}
</pre></div><p>If the template parameter _Options is set to <a class="el" href="group__enums.html#gga7ffcbdd4d5e5d6da4cd1497c9c52d454ae12d0f8f869c40c76128260af2242bc8" title="Object is aligned for vectorization.">Aligned</a>, then the pointer coeffs must be aligned. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00398">398</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="adfa19f66dc37858f30ad3577cf2fae4b"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::_transformVector" ref="adfa19f66dc37858f30ad3577cf2fae4b" args="(Vector3 v) const " -->
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<td class="memname">EIGEN_STRONG_INLINE <a class="el" href="class_eigen_1_1_quaternion_base.html#ae35177f4791e16e4f43fd2591182b517">Vector3</a> Eigen::QuaternionBase::_transformVector </td>
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<p>return the result vector of <em>v</em> through the rotation </p>
<p>Rotation of a vector by a quaternion.</p>
<dl class="remark"><dt><b>Remarks:</b></dt><dd>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:<ul>
<li>Quaternion2: 30n</li>
<li>Via a Matrix3: 24 + 15n </li>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the angle (in radian) between two rotations </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>dot() </dd></dl>
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<td class="memname"><a class="el" href="struct_eigen_1_1internal_1_1cast__return__type.html">internal::cast_return_type</a><Derived,<a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><NewScalarType> >::type Eigen::QuaternionBase::cast </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd><code>*this</code> with scalar type casted to <em>NewScalarType</em> </dd></dl>
<p>Note that if <em>NewScalarType</em> is equal to the current scalar type of <code>*this</code> then this function smartly returns a const reference to <code>*this</code>. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00184">184</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a>& <a class="el" href="class_eigen_1_1_map.html">Eigen::Map</a>< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar >, _Options >::coeffs </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a vector expression of the coefficients (x,y,z,w) </dd></dl>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_quaternion_base.html#a00986c3290118d9cd385c4c215790d7f">Eigen::QuaternionBase< Map< Quaternion< _Scalar >, _Options > ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00400">400</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a56423becb06d122abf1caa879f9d153d"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::coeffs" ref="a56423becb06d122abf1caa879f9d153d" args="() const " -->
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<td class="memname">const <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a>& <a class="el" href="class_eigen_1_1_map.html">Eigen::Map</a>< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar >, _Options >::coeffs </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a read-only vector expression of the coefficients (x,y,z,w) </dd></dl>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_quaternion_base.html#ac00268b0381a6be2253303134dad0cdc">Eigen::QuaternionBase< Map< Quaternion< _Scalar >, _Options > ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00401">401</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ac63c996973bd257752b4cf81247b9ece"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::conjugate" ref="ac63c996973bd257752b4cf81247b9ece" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>> Eigen::QuaternionBase::conjugate </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the conjugated quaternion</dd>
<dd>
the conjugate of the <code>*this</code> which is equal to the multiplicative inverse if the quaternion is normalized. The conjugate of a quaternion represents the opposite rotation.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>Quaternion2::inverse() </dd></dl>
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<a class="anchor" id="a3aa7c00fbdb44b567e8874017e5b6922"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::dot" ref="a3aa7c00fbdb44b567e8874017e5b6922" args="(const QuaternionBase< OtherDerived > &other) const " -->
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<dl class="return"><dt><b>Returns:</b></dt><dd>the dot product of <code>*this</code> and <em>other</em> Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>angularDistance() </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00141">141</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a6af047252a3faceb78cee0f0b1d02277"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::Identity" ref="a6af047252a3faceb78cee0f0b1d02277" args="()" -->
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<td class="memname">static <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>> Eigen::QuaternionBase::Identity </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a quaternion representing an identity rotation </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>MatrixBase::Identity() </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00113">113</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>> Eigen::QuaternionBase::inverse </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the quaternion describing the inverse rotation</dd>
<dd>
the multiplicative inverse of <code>*this</code> 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.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>QuaternionBase::conjugate() </dd></dl>
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<a class="anchor" id="aa60cf82928ad8c65e35ea3729e83851a"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::isApprox" ref="aa60cf82928ad8c65e35ea3729e83851a" args="(const QuaternionBase< OtherDerived > &other, RealScalar prec=NumTraits< Scalar >::dummy_precision()) const " -->
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<td class="paramtype"><a class="el" href="class_eigen_1_1_quaternion_base.html#a1b9e246e6bf68ee12645c83c7c77ee46">RealScalar</a> </td>
<td class="paramname"><em>prec</em> = <code><a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a><<a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>>::dummy_precision()</code> </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd><code>true</code> if <code>*this</code> is approximately equal to <em>other</em>, within the precision determined by <em>prec</em>.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespace_eigen_1_1internal.html#a5f8973f6b62f10c691ccbadc9263c7fc">MatrixBase::isApprox()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00172">172</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ae1b8ee70bf2a69a55ec072ecede9f1b2"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::norm" ref="ae1b8ee70bf2a69a55ec072ecede9f1b2" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> Eigen::QuaternionBase::norm </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the norm of the quaternion's coefficients </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>QuaternionBase::squaredNorm(), <a class="el" href="namespacemrpt_1_1math.html#a5cb3c01d8c6c1577d5e93daba2cfe62a">MatrixBase::norm()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00127">127</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname">void Eigen::QuaternionBase::normalize </td>
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<p>Normalizes the quaternion <code>*this</code>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>normalized(), MatrixBase::normalize() </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00131">131</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>> Eigen::QuaternionBase::normalized </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a normalized copy of <code>*this</code> </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="eigen__plugins_8h.html#a9fa151d57c4246db2c3aed3642dd249b" title="Scales all elements such as the minimum & maximum values are shifted to the given values...">normalize()</a>, MatrixBase::normalized() </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00134">134</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a1fadda2a47986fb941bc8212d369689f"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::operator*" ref="a1fadda2a47986fb941bc8212d369689f" args="(const QuaternionBase< OtherDerived > &q) const " -->
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<td class="memname">EIGEN_STRONG_INLINE <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>> Eigen::QuaternionBase::operator* </td>
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > & </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of two rotations as a quaternion-quaternion product </dd></dl>
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<td class="memname">EIGEN_STRONG_INLINE Derived& Eigen::QuaternionBase::operator*= </td>
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<dl class="see"><dt><b>See also:</b></dt><dd>operator*(Quaternion) </dd></dl>
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<p>Sets <code>*this</code> to be a quaternion representing a rotation between the two arbitrary vectors <em>a</em> and <em>b</em>. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>the quaternion which transform <em>a</em> into <em>b</em> through a rotation</dd></dl>
<p>In other words, the built rotation represent a rotation sending the line of direction <em>a</em> to the line of direction <em>b</em>, both lines passing through the origin.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>a reference to <code>*this</code>.</dd></dl>
<p>Note that the two input vectors do <b>not</b> have to be normalized, and do not need to have the same norm. </p>
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>& Eigen::QuaternionBase::setIdentity </td>
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<dl class="see"><dt><b>See also:</b></dt><dd>QuaternionBase::Identity(), MatrixBase::setIdentity() </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00117">117</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>> Eigen::QuaternionBase::slerp </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>an interpolation for a constant motion between <em>other</em> and <code>*this</code> <em>t</em> in [0;1] see <a href="http://en.wikipedia.org/wiki/Slerp">http://en.wikipedia.org/wiki/Slerp</a></dd>
<dd>
the spherical linear interpolation between the two quaternions <code>*this</code> and <em>other</em> at the parameter <em>t</em> </dd></dl>
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<a class="anchor" id="ab3ff4f0efdcc6dcd04a9397d79b285b2"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::squaredNorm" ref="ab3ff4f0efdcc6dcd04a9397d79b285b2" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> Eigen::QuaternionBase::squaredNorm </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the squared norm of the quaternion's coefficients </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="namespacemrpt_1_1math.html#a5cb3c01d8c6c1577d5e93daba2cfe62a">QuaternionBase::norm()</a>, MatrixBase::squaredNorm() </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00122">122</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#a53df1cea432edc20d7652ccd16fa73c8">Matrix3</a> Eigen::QuaternionBase::toRotationMatrix </td>
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<p>Convert the quaternion to a 3x3 rotation matrix. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>an equivalent 3x3 rotation matrix</dd></dl>
<p>The quaternion is required to be normalized, otherwise the result is undefined. </p>
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<td class="memname">const <a class="el" href="class_eigen_1_1_vector_block.html">VectorBlock</a><const <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a>,3> Eigen::QuaternionBase::vec </td>
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<td> const<code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a read-only vector expression of the imaginary part (x,y,z) </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00086">86</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a28e5b09f233ec3b1297183df22cfb65c"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::vec" ref="a28e5b09f233ec3b1297183df22cfb65c" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_vector_block.html">VectorBlock</a><<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a>,3> Eigen::QuaternionBase::vec </td>
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<td><code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a vector expression of the imaginary part (x,y,z) </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00089">89</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ab6092f11d8755a657a499e8f67bfa84b"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::w" ref="ab6092f11d8755a657a499e8f67bfa84b" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> Eigen::QuaternionBase::w </td>
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<td> const<code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the <code>w</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00074">74</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a88512d2c517e91af3702be9b390285f5"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::w" ref="a88512d2c517e91af3702be9b390285f5" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>& Eigen::QuaternionBase::w </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a reference to the <code>w</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00083">83</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a915b4ce184fb2f48761bc83d1cb3e640"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::x" ref="a915b4ce184fb2f48761bc83d1cb3e640" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> Eigen::QuaternionBase::x </td>
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<td> const<code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the <code>x</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00068">68</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="af62099edde4babe8fa258416f9e73103"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::x" ref="af62099edde4babe8fa258416f9e73103" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>& Eigen::QuaternionBase::x </td>
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<td><code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a reference to the <code>x</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00077">77</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a5b8df1542a219034cc8504d0ca0fb535"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::y" ref="a5b8df1542a219034cc8504d0ca0fb535" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> Eigen::QuaternionBase::y </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the <code>y</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00070">70</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a826b84e686c608354f6a6e25e4337bb4"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::y" ref="a826b84e686c608354f6a6e25e4337bb4" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>& Eigen::QuaternionBase::y </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a reference to the <code>y</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00079">79</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aabcd920a99733648863ffb31e607d654"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::z" ref="aabcd920a99733648863ffb31e607d654" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a> Eigen::QuaternionBase::z </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the <code>z</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00072">72</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a4c2e5c49e80ce001065dd47aa3a3233a"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::z" ref="a4c2e5c49e80ce001065dd47aa3a3233a" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Scalar</a>& Eigen::QuaternionBase::z </td>
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<td><code> [inline, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a reference to the <code>z</code> coefficient </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00081">81</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="af5ff3aeaf87d6a7cdba4de851a427736"></a><!-- doxytag: member="Eigen::Map< Quaternion< _Scalar >, _Options >::m_coeffs" ref="af5ff3aeaf87d6a7cdba4de851a427736" args="" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Coefficients</a> <a class="el" href="class_eigen_1_1_map.html">Eigen::Map</a>< <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< _Scalar >, _Options >::<a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#af5ff3aeaf87d6a7cdba4de851a427736">m_coeffs</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00404">404</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
