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<li class="navelem"><a class="el" href="namespace_eigen.html">Eigen</a> </li>
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<div class="title">Eigen::QuaternionBase Class Reference</div> </div>
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<!-- doxytag: class="Eigen::QuaternionBase" --><!-- doxytag: inherits="RotationBase< Derived, 3 >" --><div class="dynheader">
Inheritance diagram for Eigen::QuaternionBase:</div>
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<area shape="rect" id="node7" href="class_eigen_1_1_quaternion_base.html" title="Eigen::QuaternionBase\< Map\< const Quaternion\< _Scalar \>, _Options \> \>" alt="" coords="1077,5,1533,32"/><area shape="rect" id="node11" href="class_eigen_1_1_quaternion_base.html" title="Eigen::QuaternionBase\< Map\< Quaternion\< _Scalar \>, _Options \> \>" alt="" coords="1095,56,1515,83"/><area shape="rect" id="node15" href="class_eigen_1_1_quaternion_base.html" title="Eigen::QuaternionBase\< Quaternion\< _Scalar, _Options \> \>" alt="" coords="1120,107,1491,133"/><area shape="rect" id="node2" href="class_eigen_1_1_rotation_base.html" title="Eigen::RotationBase\< Derived, 3 \>" alt="" coords="288,56,515,83"/><area shape="rect" id="node4" href="class_eigen_1_1_rotation_base.html" title="Common base class for compact rotation representations." alt="" coords="6,56,149,83"/><area shape="rect" id="node9" href="class_eigen_1_1_map_3_01const_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html" title="Quaternion expression mapping a constant memory buffer." alt="" coords="1584,5,1923,32"/><area shape="rect" id="node13" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html" title="Expression of a quaternion from a memory buffer." alt="" coords="1602,56,1905,83"/><area shape="rect" id="node17" href="class_eigen_1_1_quaternion.html" title="Eigen::Quaternion" alt="" coords="1690,107,1817,133"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="class_eigen_1_1_quaternion_base-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="class_eigen_1_1_quaternion_base.html#a28f0005e2d09ba6b89146d08cd4bfe9faea17667ca6258bddba550d2365608d55">Flags</a> = Eigen::internal::traits<Derived>::Flags
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef internal::traits<br class="typebreak"/>
< Derived >::<a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">the scalar type of the coefficients <a href="#aa2578a5158a5fd76861ac71e673a7479"></a><br/></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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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 internal::traits<br class="typebreak"/>
< Derived >::<a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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 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="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">corresponding linear transformation matrix type <a href="#a98999cd115b5012425fb5d463a5674f6"></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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">VectorType</a></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"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">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_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">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">const internal::traits<br class="typebreak"/>
< Derived >::<a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#ac00268b0381a6be2253303134dad0cdc">coeffs</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">internal::traits< Derived ><br class="typebreak"/>
::<a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a00986c3290118d9cd385c4c215790d7f">coeffs</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE <br class="typebreak"/>
<a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< Derived > & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#afe333fdaafd23dc4bf42a4839f2feeda">operator=</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< Derived > &other)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE Derived & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a7fceea81d4a11da2817aea95c9e7fa14">operator=</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< OtherDerived > &other)</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#ac73cbad11efe488b390e8fce830ca384">operator=</a> (const <a class="el" href="class_eigen_1_1_quaternion_base.html#a26434ee57d8ebb6604398d7510042eb2">AngleAxisType</a> &aa)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set <code>*this</code> from an angle-axis <em>aa</em> and returns a reference to <code>*this</code>. <a href="#ac73cbad11efe488b390e8fce830ca384"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">Derived & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#af9f979b170220a7f175bbe3c2afe436f">operator=</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< OtherDerived > &m)</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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> </td><td class="memTemplItemRight" 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="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> </td><td class="memTemplItemRight" 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="mdescLeft"> </td><td class="mdescRight">Convert the quaternion to a 3x3 rotation matrix. <a href="#a8f0aa5f26ac59599072c926808ef7c96"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename Derived1 , typename Derived2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">Derived & </td><td class="memTemplItemRight" 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="mdescLeft"> </td><td class="mdescRight">Sets <code>*this</code> to be a quaternion representing a rotation between the two arbitrary vectors <em>a</em> and <em>b</em>. <a href="#a7bbc5f68a5a037b25582df0dab75e509"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" 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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> > </td><td class="memTemplItemRight" 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="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE Derived & </td><td class="memTemplItemRight" 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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> > </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aef0bcdf130aa0e852fffcce628235e08">slerp</a> (<a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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="memTemplParams" colspan="2">template<class OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">bool </td><td class="memTemplItemRight" 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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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="memTemplParams" colspan="2">template<typename NewScalarType > </td></tr>
<tr><td class="memTemplItemLeft" 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="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa0d1155f1d33bd0c6139db4f4592c28e">cast</a> () const </td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MatrixDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">Derived & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a1940babfaf4ffe9a8f6113eb9b96c231">operator=</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< MatrixDerived > &xpr)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set <code>*this</code> from the expression <em>xpr:</em> <a href="#a1940babfaf4ffe9a8f6113eb9b96c231"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const Derived & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a0c2e92d5198f6204f784742db685df32">derived</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_rotation_base.html#a8262de4c1d1a483f81ded1191c5daf88">derived</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#adbfbf089f4976d177623c7205221a211">matrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim, Isometry > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a91f95c3a3b71740ab18cd205b1417553">operator*</a> (const <a class="el" href="class_eigen_1_1_translation.html">Translation</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim > &t) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a35d3ed20eb17d34a130e773f10ac49fb">operator*</a> (const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> > &s) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE <br class="typebreak"/>
internal::rotation_base_generic_product_selector<br class="typebreak"/>
< Derived, OtherDerived, <br class="typebreak"/>
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::ReturnType </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a9bf235c2eb3dc34fdc9482422277871d">operator*</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &e) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim, Mode > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a9dac793c1b1f98aacac97feade385f48">operator*</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim, Mode, Options > &t) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">VectorType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a5510a40abdb1dd3f3c1c576683657b3e">_transformVector</a> (const OtherVectorType &v) 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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a6af047252a3faceb78cee0f0b1d02277">Identity</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_rotation_base.html">RotationBase</a>< Derived, 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_quaternion_base.html#a330ded970cef07f16671bf2cb5c098c5">Base</a></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a38f506f2d3617685d1f684cdbc4f8dd4">operator*</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &l, const Derived &r)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim, Affine > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_rotation_base.html#a615ece720e9826703b399dfaeaba1ae0">operator*</a> (const <a class="el" href="class_eigen_1_1_diagonal_matrix.html">DiagonalMatrix</a>< <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>, Dim > &l, const Derived &r)</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a26434ee57d8ebb6604398d7510042eb2"></a><!-- doxytag: member="Eigen::QuaternionBase::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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>> <a class="el" href="class_eigen_1_1_quaternion_base.html#a26434ee57d8ebb6604398d7510042eb2">Eigen::QuaternionBase::AngleAxisType</a></td>
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<p>the equivalent angle-axis type </p>
<p>Reimplemented in <a class="el" href="class_eigen_1_1_quaternion.html#a97eb9255fa0e9ec24ff54fe6e99c286e">Eigen::Quaternion</a>.</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="a330ded970cef07f16671bf2cb5c098c5"></a><!-- doxytag: member="Eigen::QuaternionBase::Base" ref="a330ded970cef07f16671bf2cb5c098c5" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a><Derived, 3> <a class="el" href="class_eigen_1_1_quaternion_base.html#a330ded970cef07f16671bf2cb5c098c5">Eigen::QuaternionBase::Base</a><code> [private]</code></td>
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<p>Reimplemented in <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a12b0cf525b06dcf4693dd8e32b843098">Eigen::Map< Quaternion< _Scalar >, _Options ></a>, <a class="el" href="class_eigen_1_1_map_3_01const_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a7c7b223e2358c7ebc6484c0cc0fd362d">Eigen::Map< const Quaternion< _Scalar >, _Options ></a>, and <a class="el" href="class_eigen_1_1_quaternion.html#a29e9762b48130aeedd02c9c9483ad5b0">Eigen::Quaternion</a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00045">45</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a7cb62a32240aa811bd7e692f8d27f863"></a><!-- doxytag: member="Eigen::QuaternionBase::Coefficients" ref="a7cb62a32240aa811bd7e692f8d27f863" args="" -->
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<td class="memname">typedef internal::traits<Derived>::<a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</a> <a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Eigen::QuaternionBase::Coefficients</a></td>
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<p>Reimplemented in <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ad00baac2e7bbfce42d69ec4299100e6c">Eigen::Map< Quaternion< _Scalar >, _Options ></a>, <a class="el" href="class_eigen_1_1_map_3_01const_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ab06714dd3762f02398e9180e26f09d0f">Eigen::Map< const Quaternion< _Scalar >, _Options ></a>, and <a class="el" href="class_eigen_1_1_quaternion.html#ace2cbf3833384a3979f8b4157293cda7">Eigen::Quaternion</a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00052">52</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::QuaternionBase::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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>,3,3> <a class="el" href="class_eigen_1_1_quaternion_base.html#a53df1cea432edc20d7652ccd16fa73c8">Eigen::QuaternionBase::Matrix3</a></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::QuaternionBase::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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>>::Real <a class="el" href="class_eigen_1_1_quaternion_base.html#a1b9e246e6bf68ee12645c83c7c77ee46">Eigen::QuaternionBase::RealScalar</a></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="a98999cd115b5012425fb5d463a5674f6"></a><!-- doxytag: member="Eigen::QuaternionBase::RotationMatrixType" ref="a98999cd115b5012425fb5d463a5674f6" 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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>,Dim,Dim> <a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">Eigen::RotationBase::RotationMatrixType</a><code> [inherited]</code></td>
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<p>corresponding linear transformation matrix type </p>
<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="aa2578a5158a5fd76861ac71e673a7479"></a><!-- doxytag: member="Eigen::QuaternionBase::Scalar" ref="aa2578a5158a5fd76861ac71e673a7479" args="" -->
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<td class="memname">typedef internal::traits<Derived>::<a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> <a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Eigen::QuaternionBase::Scalar</a></td>
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<p>the scalar type of the coefficients </p>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_rotation_base.html#ab610d6962186e763b08357bf9b1a5b3b">Eigen::RotationBase< Derived, 3 ></a>.</p>
<p>Reimplemented in <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#aa51f781c0c3113e86daa2d99bf586cfc">Eigen::Map< Quaternion< _Scalar >, _Options ></a>, <a class="el" href="class_eigen_1_1_map_3_01const_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#ac091f6fe439476e54b14195628d8e6d1">Eigen::Map< const Quaternion< _Scalar >, _Options ></a>, and <a class="el" href="class_eigen_1_1_quaternion.html#ac4ad7795d2feae7736e95e276fcf6d3a">Eigen::Quaternion</a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00050">50</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::QuaternionBase::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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>,3,1> <a class="el" href="class_eigen_1_1_quaternion_base.html#ae35177f4791e16e4f43fd2591182b517">Eigen::QuaternionBase::Vector3</a></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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<a class="anchor" id="afb882774a4b4dbcef5aa7f90dce9cd85"></a><!-- doxytag: member="Eigen::QuaternionBase::VectorType" ref="afb882774a4b4dbcef5aa7f90dce9cd85" 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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>,Dim,1> <a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">Eigen::RotationBase::VectorType</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00052">52</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a324068ae376740b6b95b195e545ab266"></a><!-- doxytag: member="Eigen::QuaternionBase::@350" ref="a324068ae376740b6b95b195e545ab266" args="" -->
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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#l00046">46</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a28f0005e2d09ba6b89146d08cd4bfe9f"></a><!-- doxytag: member="Eigen::QuaternionBase::@354" ref="a28f0005e2d09ba6b89146d08cd4bfe9f" args="" -->
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a28f0005e2d09ba6b89146d08cd4bfe9faea17667ca6258bddba550d2365608d55"></a><!-- doxytag: member="Flags" ref="a28f0005e2d09ba6b89146d08cd4bfe9faea17667ca6258bddba550d2365608d55" args="" -->Flags</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<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>Member Function Documentation</h2>
<a class="anchor" id="a5510a40abdb1dd3f3c1c576683657b3e"></a><!-- doxytag: member="Eigen::QuaternionBase::_transformVector" ref="a5510a40abdb1dd3f3c1c576683657b3e" args="(const OtherVectorType &v) const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation_base.html#afb882774a4b4dbcef5aa7f90dce9cd85">VectorType</a> Eigen::RotationBase::_transformVector </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00107">107</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname">EIGEN_STRONG_INLINE <a class="el" href="class_eigen_1_1_quaternion_base.html">QuaternionBase</a>< Derived >::<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 <a class="el" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a>. Comparison of the operation cost for n transformations:<ul>
<li>Quaternion2: 30n</li>
<li>Via a Matrix3: 24 + 15n </li>
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</dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00472">472</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a8a446622ae31b372f9ea144bfd804b15"></a><!-- doxytag: member="Eigen::QuaternionBase::angularDistance" ref="a8a446622ae31b372f9ea144bfd804b15" args="(const QuaternionBase< OtherDerived > &other) const " -->
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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 angle (in radian) between two rotations </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_quaternion_base.html#a3aa7c00fbdb44b567e8874017e5b6922">dot()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00652">652</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aa0d1155f1d33bd0c6139db4f4592c28e"></a><!-- doxytag: member="Eigen::QuaternionBase::cast" ref="aa0d1155f1d33bd0c6139db4f4592c28e" args="() const " -->
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template<typename NewScalarType > </div>
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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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<a class="anchor" id="ac00268b0381a6be2253303134dad0cdc"></a><!-- doxytag: member="Eigen::QuaternionBase::coeffs" ref="ac00268b0381a6be2253303134dad0cdc" args="() const " -->
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<td class="memname">const internal::traits<Derived>::<a class="el" href="class_eigen_1_1_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</a>& Eigen::QuaternionBase::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 in <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a56423becb06d122abf1caa879f9d153d">Eigen::Map< Quaternion< _Scalar >, _Options ></a>, <a class="el" href="class_eigen_1_1_map_3_01const_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a8f2cb9a14a5accb18d45e1b3a6ac8ffd">Eigen::Map< const Quaternion< _Scalar >, _Options ></a>, and <a class="el" href="class_eigen_1_1_quaternion.html#a01a49fc573238384de10687e84c39e07">Eigen::Quaternion</a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00092">92</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a00986c3290118d9cd385c4c215790d7f"></a><!-- doxytag: member="Eigen::QuaternionBase::coeffs" ref="a00986c3290118d9cd385c4c215790d7f" args="()" -->
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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 in <a class="el" href="class_eigen_1_1_map_3_01_quaternion_3_01___scalar_01_4_00_01___options_01_4.html#a2b3ba3c27aab46ce62a9db635dd71339">Eigen::Map< Quaternion< _Scalar >, _Options ></a>, and <a class="el" href="class_eigen_1_1_quaternion.html#aef58745f4e9288e0ffd01818614a3365">Eigen::Quaternion</a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00095">95</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::QuaternionBase::conjugate" ref="ac63c996973bd257752b4cf81247b9ece" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>< typename internal::traits< Derived >::<a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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>
<p>Definition at line <a class="el" href="_geometry_source.html#l00641">641</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a0c2e92d5198f6204f784742db685df32"></a><!-- doxytag: member="Eigen::QuaternionBase::derived" ref="a0c2e92d5198f6204f784742db685df32" args="() const " -->
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<td class="memname">const Derived& Eigen::RotationBase::derived </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00055">55</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a8262de4c1d1a483f81ded1191c5daf88"></a><!-- doxytag: member="Eigen::QuaternionBase::derived" ref="a8262de4c1d1a483f81ded1191c5daf88" args="()" -->
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<td class="memname">Derived& Eigen::RotationBase::derived </td>
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<td><code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00056">56</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a3aa7c00fbdb44b567e8874017e5b6922"></a><!-- doxytag: member="Eigen::QuaternionBase::dot" ref="a3aa7c00fbdb44b567e8874017e5b6922" args="(const QuaternionBase< OtherDerived > &other) const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> Eigen::QuaternionBase::dot </td>
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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><a class="el" href="class_eigen_1_1_quaternion_base.html#a8a446622ae31b372f9ea144bfd804b15">angularDistance()</a> </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::QuaternionBase::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_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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><a class="el" href="class_eigen_1_1_matrix_base.html#ab125f04617faec0ebc0f08cad6884943">MatrixBase::Identity()</a> </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>< typename internal::traits< Derived >::<a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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><a class="el" href="class_eigen_1_1_quaternion_base.html#ac63c996973bd257752b4cf81247b9ece">QuaternionBase::conjugate()</a> </dd></dl>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_rotation_base.html#ae68d14f5a454792f7fa38f04a038771d">Eigen::RotationBase< Derived, 3 ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00620">620</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aa60cf82928ad8c65e35ea3729e83851a"></a><!-- doxytag: member="Eigen::QuaternionBase::isApprox" ref="aa60cf82928ad8c65e35ea3729e83851a" args="(const QuaternionBase< OtherDerived > &other, RealScalar prec=NumTraits< Scalar >::dummy_precision()) const " -->
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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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<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="class_eigen_1_1_dense_base.html#ad054d515cf1c46a71e621dea16af2dda">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="adbfbf089f4976d177623c7205221a211"></a><!-- doxytag: member="Eigen::QuaternionBase::matrix" ref="adbfbf089f4976d177623c7205221a211" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> Eigen::RotationBase::matrix </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme. </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00064">64</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::QuaternionBase::norm" ref="ae1b8ee70bf2a69a55ec072ecede9f1b2" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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><a class="el" href="class_eigen_1_1_quaternion_base.html#ab3ff4f0efdcc6dcd04a9397d79b285b2">QuaternionBase::squaredNorm()</a>, <a class="el" href="class_eigen_1_1_matrix_base.html#a3da55882903217cd147224f0bb075bad">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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<a class="anchor" id="a894d4f21395f99179cd03003b358bfcb"></a><!-- doxytag: member="Eigen::QuaternionBase::normalize" ref="a894d4f21395f99179cd03003b358bfcb" args="()" -->
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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><a class="el" href="class_eigen_1_1_quaternion_base.html#a30b1f050111d9c0afd1d06949f0f7c4c">normalized()</a>, <a class="el" href="class_eigen_1_1_matrix_base.html#a3ef74865c60ef91373ad4100705607dc" title="Normalizes the vector, i.e.">MatrixBase::normalize()</a> </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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<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="class_eigen_1_1_quaternion_base.html#a894d4f21395f99179cd03003b358bfcb" title="Normalizes the quaternion *this.">normalize()</a>, <a class="el" href="class_eigen_1_1_matrix_base.html#a07951f467d43192beb057111b9c9ace7">MatrixBase::normalized()</a> </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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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a translation <em>t</em> </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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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a uniform scaling <em>s</em> </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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<td class="memname">EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase::operator* </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a generic expression <em>e</em> <em>e</em> can be:<ul>
<li>a DimxDim linear transformation matrix</li>
<li>a DimxDim diagonal matrix (axis aligned scaling)</li>
<li>a vector of size Dim </li>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00085">85</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of the rotation <code>*this</code> with a transformation <em>t</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00103">103</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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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>
<p>Definition at line <a class="el" href="_geometry_source.html#l00445">445</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<dl class="see"><dt><b>See also:</b></dt><dd>operator*(Quaternion) </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00457">457</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00485">485</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00493">493</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Set <code>*this</code> from an angle-axis <em>aa</em> and returns a reference to <code>*this</code>. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00502">502</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Set <code>*this</code> from the expression <em>xpr:</em> </p>
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<li>if <em>xpr</em> is a 4x1 vector, then <em>xpr</em> is assumed to be a quaternion</li>
<li>if <em>xpr</em> is a 3x3 matrix, then <em>xpr</em> is assumed to be rotation matrix and <em>xpr</em> is converted to a quaternion </li>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00518">518</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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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>
<p>Definition at line <a class="el" href="_geometry_source.html#l00577">577</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">QuaternionBase</a>& Eigen::QuaternionBase::setIdentity </td>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_quaternion_base.html#a6af047252a3faceb78cee0f0b1d02277">QuaternionBase::Identity()</a>, <a class="el" href="class_eigen_1_1_matrix_base.html#ab7bcd84f6d4226f42813cd6c440d3ef1" title="Writes the identity expression (not necessarily square) into *this.">MatrixBase::setIdentity()</a> </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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<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>
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the spherical linear interpolation between the two quaternions <code>*this</code> and <em>other</em> at the parameter <em>t</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00667">667</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#aa2578a5158a5fd76861ac71e673a7479">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="class_eigen_1_1_quaternion_base.html#ae1b8ee70bf2a69a55ec072ecede9f1b2">QuaternionBase::norm()</a>, <a class="el" href="class_eigen_1_1_matrix_base.html#a4b3b86acb1da51cab81069691f96e43c">MatrixBase::squaredNorm()</a> </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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<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>
<p>Reimplemented from <a class="el" href="class_eigen_1_1_rotation_base.html#a8d02a5d5fcad0af9a371707250403f9b">Eigen::RotationBase< Derived, 3 ></a>.</p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00531">531</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</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_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</a>,3> Eigen::QuaternionBase::vec </td>
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<td> const<code> [inline]</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::QuaternionBase::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_quaternion_base.html#a7cb62a32240aa811bd7e692f8d27f863">Coefficients</a>,3> Eigen::QuaternionBase::vec </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::QuaternionBase::w" ref="ab6092f11d8755a657a499e8f67bfa84b" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> Eigen::QuaternionBase::w </td>
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<td> const<code> [inline]</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::QuaternionBase::w" ref="a88512d2c517e91af3702be9b390285f5" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>& Eigen::QuaternionBase::w </td>
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<td><code> [inline]</code></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::QuaternionBase::x" ref="a915b4ce184fb2f48761bc83d1cb3e640" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> Eigen::QuaternionBase::x </td>
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<td> const<code> [inline]</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::QuaternionBase::x" ref="af62099edde4babe8fa258416f9e73103" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>& Eigen::QuaternionBase::x </td>
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<td><code> [inline]</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::QuaternionBase::y" ref="a5b8df1542a219034cc8504d0ca0fb535" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> Eigen::QuaternionBase::y </td>
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<td> const<code> [inline]</code></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::QuaternionBase::y" ref="a826b84e686c608354f6a6e25e4337bb4" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">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::QuaternionBase::z" ref="aabcd920a99733648863ffb31e607d654" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a> Eigen::QuaternionBase::z </td>
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<td> const<code> [inline]</code></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::QuaternionBase::z" ref="a4c2e5c49e80ce001065dd47aa3a3233a" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>& Eigen::QuaternionBase::z </td>
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<td><code> [inline]</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>Friends And Related Function Documentation</h2>
<a class="anchor" id="a38f506f2d3617685d1f684cdbc4f8dd4"></a><!-- doxytag: member="Eigen::QuaternionBase::operator*" ref="a38f506f2d3617685d1f684cdbc4f8dd4" args="(const EigenBase< OtherDerived > &l, const Derived &r)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_rotation_base.html#a98999cd115b5012425fb5d463a5674f6">RotationMatrixType</a> operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > & </td>
<td class="paramname"><em>l</em>, </td>
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<td></td>
<td class="paramtype">const Derived & </td>
<td class="paramname"><em>r</em> </td>
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<td>)</td>
<td></td><td><code> [friend, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of a linear transformation <em>l</em> with the rotation <em>r</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00090">90</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a615ece720e9826703b399dfaeaba1ae0"></a><!-- doxytag: member="Eigen::QuaternionBase::operator*" ref="a615ece720e9826703b399dfaeaba1ae0" args="(const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a><<a class="el" href="class_eigen_1_1_quaternion_base.html#aa2578a5158a5fd76861ac71e673a7479">Scalar</a>,Dim,Affine> operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_diagonal_matrix.html">DiagonalMatrix</a>< <a class="el" href="class_eigen_1_1_rotation_base.html#ab610d6962186e763b08357bf9b1a5b3b">Scalar</a>, Dim > & </td>
<td class="paramname"><em>l</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Derived & </td>
<td class="paramname"><em>r</em> </td>
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<td>)</td>
<td></td><td><code> [friend, inherited]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the concatenation of a scaling <em>l</em> with the rotation <em>r</em> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00094">94</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>
