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<div class="title">Map< Quaternion< _Scalar >, _Options > Class Template Reference<div class="ingroups"><a class="el" href="group__Geometry__Module.html">Geometry module</a></div></div> </div>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template<typename _Scalar, int _Options><br/>
class Eigen::Map< Quaternion< _Scalar >, _Options ></h3>
<p>Expression of a quaternion from a memory buffer. </p>
<dl class="tparams"><dt>Template Parameters</dt><dd>
<table class="tparams">
<tr><td class="paramname">_Scalar</td><td>the type of the <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a> coefficients </td></tr>
<tr><td class="paramname">_Options</td><td>see class <a class="el" href="classEigen_1_1Map.html" title="A matrix or vector expression mapping an existing array of data. ">Map</a></td></tr>
</table>
</dd>
</dl>
<p>This is a specialization of class <a class="el" href="classEigen_1_1Map.html" title="A matrix or vector expression mapping an existing array of data. ">Map</a> for <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a>. This class allows to view a 4 scalar memory buffer as an <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a>'s <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a> object.</p>
<dl class="section see"><dt>See Also</dt><dd>class <a class="el" href="classEigen_1_1Map.html" title="A matrix or vector expression mapping an existing array of data. ">Map</a>, class <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a>, class <a class="el" href="classEigen_1_1QuaternionBase.html" title="Base class for quaternion expressions. ">QuaternionBase</a> </dd></dl>
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<img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for Map< Quaternion< _Scalar >, _Options >:</div>
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<div class="center"><img src="classEigen_1_1Map_3_01Quaternion_3_01__Scalar_01_4_00_01__Options_01_4__inherit__graph.png" border="0" usemap="#Map_3_01Quaternion_3_01__Scalar_01_4_00_01__Options_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="Map_3_01Quaternion_3_01__Scalar_01_4_00_01__Options_01_4_inherit__map" id="Map_3_01Quaternion_3_01__Scalar_01_4_00_01__Options_01_4_inherit__map">
<area shape="rect" id="node2" href="classEigen_1_1QuaternionBase.html" title="{QuaternionBase\< Map\l\< Quaternion\< _Scalar\l \>, _Options \> \>\n||+ _transformVector()\l+ angularDistance()\l+ cast()\l+ coeffs()\l+ coeffs()\l+ conjugate()\l+ dot()\l+ inverse()\l+ isApprox()\l+ norm()\land 23 more...\l+ Identity()\l}" alt="" coords="18,294,171,562"/><area shape="rect" id="node3" href="classEigen_1_1RotationBase.html" title="{RotationBase\< Map\<\l Quaternion\< _Scalar\l \>, _Options \>, 3 \>\n||+ _transformVector()\l+ derived()\l+ derived()\l+ inverse()\l+ matrix()\l+ operator*()\l+ operator*()\l+ operator*()\l+ operator*()\l+ toRotationMatrix()\l}" alt="" coords="21,6,168,245"/></map>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:ac8cbb66bbccf5f2c9596004a14129c26"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a>< Scalar > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ac8cbb66bbccf5f2c9596004a14129c26">AngleAxisType</a></td></tr>
<tr class="separator:ac8cbb66bbccf5f2c9596004a14129c26"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:abdb0743d0fe840b927780b2bd78fb29e"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>< Scalar, 3, 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#abdb0743d0fe840b927780b2bd78fb29e">Matrix3</a></td></tr>
<tr class="separator:abdb0743d0fe840b927780b2bd78fb29e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:abb59a4f54aebad6325389d49d48de310"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>< Scalar, Dim, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a></td></tr>
<tr class="separator:abb59a4f54aebad6325389d49d48de310"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab05eeebdd63f50a52fecb6353018075f"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>< Scalar, 3, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ab05eeebdd63f50a52fecb6353018075f">Vector3</a></td></tr>
<tr class="separator:ab05eeebdd63f50a52fecb6353018075f"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ab45aef6f20921b0997f4e8d75ef03300"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1QuaternionBase.html#ab05eeebdd63f50a52fecb6353018075f">Vector3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ab45aef6f20921b0997f4e8d75ef03300">_transformVector</a> (<a class="el" href="classEigen_1_1QuaternionBase.html#ab05eeebdd63f50a52fecb6353018075f">Vector3</a> v) const</td></tr>
<tr class="separator:ab45aef6f20921b0997f4e8d75ef03300"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a65f6d2422debd1a64a2452641497e2f4"><td class="memItemLeft" align="right" valign="top">internal::cast_return_type<br class="typebreak"/>
< <a class="el" href="classEigen_1_1Map.html">Map</a>< <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< _Scalar ><br class="typebreak"/>
, _Options >, <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a><br class="typebreak"/>
< NewScalarType > >::type </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a65f6d2422debd1a64a2452641497e2f4">cast</a> () const</td></tr>
<tr class="separator:a65f6d2422debd1a64a2452641497e2f4"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6761d13accfe34e38d907505221d081c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< Scalar > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a6761d13accfe34e38d907505221d081c">conjugate</a> () const</td></tr>
<tr class="separator:a6761d13accfe34e38d907505221d081c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a20b9b376e143961250055470585ac1d0"><td class="memItemLeft" align="right" valign="top">Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a20b9b376e143961250055470585ac1d0">dot</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>< OtherDerived > &other) const</td></tr>
<tr class="separator:a20b9b376e143961250055470585ac1d0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a666e60218567ecf0ec8e2cd5040e1d87"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< Scalar > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a666e60218567ecf0ec8e2cd5040e1d87">inverse</a> () const</td></tr>
<tr class="separator:a666e60218567ecf0ec8e2cd5040e1d87"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3956cb2fddca9905ac6ed71a42ee2d2a"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a3956cb2fddca9905ac6ed71a42ee2d2a">isApprox</a> (const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>< OtherDerived > &other, const RealScalar &prec=<a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>< Scalar >::dummy_precision()) const</td></tr>
<tr class="separator:a3956cb2fddca9905ac6ed71a42ee2d2a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa5742a3a943c3adca0ea1f74f3339cb7"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Map_3_01Quaternion_3_01__Scalar_01_4_00_01__Options_01_4.html#aa5742a3a943c3adca0ea1f74f3339cb7">Map</a> (Scalar *coeffs)</td></tr>
<tr class="separator:aa5742a3a943c3adca0ea1f74f3339cb7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a137458fc1a96a26c9fd58d7b2b61336d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a137458fc1a96a26c9fd58d7b2b61336d">matrix</a> () const</td></tr>
<tr class="separator:a137458fc1a96a26c9fd58d7b2b61336d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa2bb33b2ed836350b02a6b9083bf8b5b"><td class="memItemLeft" align="right" valign="top">Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#aa2bb33b2ed836350b02a6b9083bf8b5b">norm</a> () const</td></tr>
<tr class="separator:aa2bb33b2ed836350b02a6b9083bf8b5b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:acd0de676568888d848beb97dcc53ae47"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#acd0de676568888d848beb97dcc53ae47">normalize</a> ()</td></tr>
<tr class="separator:acd0de676568888d848beb97dcc53ae47"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4b12380cc06df343c220d0745b50759e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< Scalar > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a4b12380cc06df343c220d0745b50759e">normalized</a> () const</td></tr>
<tr class="separator:a4b12380cc06df343c220d0745b50759e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a39e946f5ec63f80d28cf7988e6ba80b9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< Scalar, Dim, <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Isometry</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a39e946f5ec63f80d28cf7988e6ba80b9">operator*</a> (const <a class="el" href="classEigen_1_1Translation.html">Translation</a>< Scalar, Dim > &t) const</td></tr>
<tr class="separator:a39e946f5ec63f80d28cf7988e6ba80b9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a84d2f46dbcd54e3a3b8ebcc673ad3920"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a84d2f46dbcd54e3a3b8ebcc673ad3920">operator*</a> (const UniformScaling< Scalar > &s) const</td></tr>
<tr class="separator:a84d2f46dbcd54e3a3b8ebcc673ad3920"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:acd4f0475d084e54c0dde2ef3f78822c0"><td class="memItemLeft" align="right" valign="top">internal::rotation_base_generic_product_selector<br class="typebreak"/>
< <a class="el" href="classEigen_1_1Map.html">Map</a>< <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< _Scalar ><br class="typebreak"/>
, _Options >, OtherDerived, <br class="typebreak"/>
OtherDerived::IsVectorAtCompileTime ><br class="typebreak"/>
::ReturnType </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#acd4f0475d084e54c0dde2ef3f78822c0">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > &e) const</td></tr>
<tr class="separator:acd4f0475d084e54c0dde2ef3f78822c0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4905e372221a7ca6eaf7f11056bc1b7a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< Scalar, Dim, Mode > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1RotationBase.html#a4905e372221a7ca6eaf7f11056bc1b7a">operator*</a> (const <a class="el" href="classEigen_1_1Transform.html">Transform</a>< Scalar, Dim, Mode, Options > &t) const</td></tr>
<tr class="separator:a4905e372221a7ca6eaf7f11056bc1b7a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac35460294d855096e9b687cadf821452"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Map.html">Map</a>< <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< _Scalar ><br class="typebreak"/>
, _Options > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ac35460294d855096e9b687cadf821452">setFromTwoVectors</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived1 > &a, const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived2 > &b)</td></tr>
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<tr class="memitem:aa07f38d31b32610f5296f81d438b60fb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#aa07f38d31b32610f5296f81d438b60fb">setIdentity</a> ()</td></tr>
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<tr class="memitem:a8cf5be4be8788856ca8dfe97b3cde1c4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< Scalar > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a8cf5be4be8788856ca8dfe97b3cde1c4">slerp</a> (const Scalar &t, const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>< OtherDerived > &other) const</td></tr>
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<tr class="memitem:a8699d72c996ca6cb4673e810fe3a616c"><td class="memItemLeft" align="right" valign="top">Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a8699d72c996ca6cb4673e810fe3a616c">squaredNorm</a> () const</td></tr>
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<tr class="memitem:a7bdc6d3cce92c44d32281aa2f85b56f7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1QuaternionBase.html#abdb0743d0fe840b927780b2bd78fb29e">Matrix3</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a7bdc6d3cce92c44d32281aa2f85b56f7">toRotationMatrix</a> () const</td></tr>
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<tr class="memitem:a154f40d7fec7be85112f7e7c12e4900b"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classEigen_1_1VectorBlock.html">VectorBlock</a>< const <br class="typebreak"/>
Coefficients, 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a154f40d7fec7be85112f7e7c12e4900b">vec</a> () const</td></tr>
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<tr class="memitem:ae11dcbf26de9bc8c2afddf9a8b5c32a9"><td class="memItemLeft" align="right" valign="top">Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#ae11dcbf26de9bc8c2afddf9a8b5c32a9">w</a> () const</td></tr>
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<tr class="memitem:a81f3d09a835c62dbde6a0824f5db517b"><td class="memItemLeft" align="right" valign="top">Scalar & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a81f3d09a835c62dbde6a0824f5db517b">w</a> ()</td></tr>
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<tr class="memitem:a5e6fc074bced85f298c76edac1af6cd9"><td class="memItemLeft" align="right" valign="top">Scalar & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a5e6fc074bced85f298c76edac1af6cd9">x</a> ()</td></tr>
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<tr class="memitem:a7b19faa70d70b5f16a39f1dd4b69e7a0"><td class="memItemLeft" align="right" valign="top">Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a7b19faa70d70b5f16a39f1dd4b69e7a0">y</a> () const</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a480a9376ddbb4d075331a3cefca97bc7"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< Scalar > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1QuaternionBase.html#a480a9376ddbb4d075331a3cefca97bc7">Identity</a> ()</td></tr>
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<h2 class="groupheader">Member Typedef Documentation</h2>
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<td class="memname">typedef <a class="el" href="classEigen_1_1AngleAxis.html">AngleAxis</a><Scalar> <a class="el" href="classEigen_1_1QuaternionBase.html#ac8cbb66bbccf5f2c9596004a14129c26">AngleAxisType</a></td>
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<p>the equivalent angle-axis type </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a><Scalar,3,3> <a class="el" href="classEigen_1_1QuaternionBase.html#abdb0743d0fe840b927780b2bd78fb29e">Matrix3</a></td>
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<p>the equivalent rotation matrix type </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a><Scalar,Dim,Dim> <a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a></td>
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<p>corresponding linear transformation matrix type </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a><Scalar,3,1> <a class="el" href="classEigen_1_1QuaternionBase.html#ab05eeebdd63f50a52fecb6353018075f">Vector3</a></td>
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<p>the type of a 3D vector </p>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<td class="memname"><a class="el" href="classEigen_1_1Map.html">Map</a> </td>
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<td class="paramname"><em>coeffs</em></td><td>)</td>
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<p>Constructs a Mapped <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">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="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a> in the following order: </p>
<div class="fragment"><div class="line">*coeffs == {<a class="code" href="classEigen_1_1QuaternionBase.html#a5eb2596dc2a509b276d01578a9c3dd27">x</a>, <a class="code" href="classEigen_1_1QuaternionBase.html#a7b19faa70d70b5f16a39f1dd4b69e7a0">y</a>, <a class="code" href="classEigen_1_1QuaternionBase.html#a94a075384f8f54dc97a69546e600b78e">z</a>, w} </div>
</div><!-- fragment --><p>If the template parameter _Options is set to <a class="el" href="group__enums.html#gga456ac33d49271d3e2c371351cd1d6371ad5380ca00f3d74b38593adf8a0d06d3e">Aligned</a>, then the pointer coeffs must be aligned. </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<td class="memname"><a class="el" href="classEigen_1_1QuaternionBase.html#ab05eeebdd63f50a52fecb6353018075f">Vector3</a> _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="section remark"><dt>Remarks</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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<td class="memname">internal::cast_return_type<<a class="el" href="classEigen_1_1Map.html">Map</a>< <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< _Scalar >, _Options > ,<a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a><NewScalarType> >::type cast </td>
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<dl class="section return"><dt>Returns</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>
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<td class="memname"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a><Scalar> conjugate </td>
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<dl class="section return"><dt>Returns</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="section see"><dt>See Also</dt><dd>Quaternion2::inverse() </dd></dl>
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<td class="memname">Scalar dot </td>
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<dl class="section return"><dt>Returns</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="section see"><dt>See Also</dt><dd>angularDistance() </dd></dl>
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<td class="memname">static <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a><Scalar> Identity </td>
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<dl class="section return"><dt>Returns</dt><dd>a quaternion representing an identity rotation </dd></dl>
<dl class="section see"><dt>See Also</dt><dd>MatrixBase::Identity() </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a><Scalar> inverse </td>
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<dl class="section return"><dt>Returns</dt><dd>the quaternion describing the inverse rotation</dd>
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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="section see"><dt>See Also</dt><dd>QuaternionBase::conjugate() </dd></dl>
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<td class="memname">bool isApprox </td>
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<dl class="section return"><dt>Returns</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="section see"><dt>See Also</dt><dd>MatrixBase::isApprox() </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> matrix </td>
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<dl class="section return"><dt>Returns</dt><dd>an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme. </dd></dl>
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<dl class="section return"><dt>Returns</dt><dd>the norm of the quaternion's coefficients </dd></dl>
<dl class="section see"><dt>See Also</dt><dd>QuaternionBase::squaredNorm(), MatrixBase::norm() </dd></dl>
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<td class="memname">void normalize </td>
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<p>Normalizes the quaternion <code>*this</code> </p>
<dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1QuaternionBase.html#a4b12380cc06df343c220d0745b50759e">normalized()</a>, MatrixBase::normalize() </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a><Scalar> normalized </td>
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<dl class="section return"><dt>Returns</dt><dd>a normalized copy of <code>*this</code> </dd></dl>
<dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1QuaternionBase.html#acd0de676568888d848beb97dcc53ae47">normalize()</a>, MatrixBase::normalized() </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><Scalar,Dim,<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Isometry</a>> operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classEigen_1_1Translation.html">Translation</a>< <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>, Dim > & </td>
<td class="paramname"><em>t</em></td><td>)</td>
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<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a translation <em>t</em> </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a> operator* </td>
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<td class="paramname"><em>s</em></td><td>)</td>
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<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a uniform scaling <em>s</em> </dd></dl>
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<td class="memname">internal::rotation_base_generic_product_selector<<a class="el" href="classEigen_1_1Map.html">Map</a>< <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< _Scalar >, _Options > ,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > & </td>
<td class="paramname"><em>e</em></td><td>)</td>
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<dl class="section return"><dt>Returns</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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</dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><Scalar,Dim,Mode> operator* </td>
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<td class="paramname"><em>t</em></td><td>)</td>
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<dl class="section return"><dt>Returns</dt><dd>the concatenation of the rotation <code>*this</code> with a transformation <em>t</em> </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Map.html">Map</a>< <a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a>< _Scalar >, _Options > & setFromTwoVectors </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived1 > & </td>
<td class="paramname"><em>a</em>, </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< Derived2 > & </td>
<td class="paramname"><em>b</em> </td>
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<dl class="section return"><dt>Returns</dt><dd>the quaternion which transform <em>a</em> into <em>b</em> through a rotation</dd></dl>
<p>Sets <code>*this</code> to be a quaternion representing a rotation between the two arbitrary vectors <em>a</em> and <em>b</em>. 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="section return"><dt>Returns</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="classEigen_1_1QuaternionBase.html">QuaternionBase</a>& setIdentity </td>
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<dl class="section see"><dt>See Also</dt><dd>QuaternionBase::Identity(), MatrixBase::setIdentity() </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Quaternion.html">Quaternion</a><Scalar> slerp </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a> & </td>
<td class="paramname"><em>t</em>, </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1QuaternionBase.html">QuaternionBase</a>< OtherDerived > & </td>
<td class="paramname"><em>other</em> </td>
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<dl class="section return"><dt>Returns</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></dl>
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<td class="memname">Scalar squaredNorm </td>
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<dl class="section return"><dt>Returns</dt><dd>the squared norm of the quaternion's coefficients </dd></dl>
<dl class="section see"><dt>See Also</dt><dd>QuaternionBase::norm(), MatrixBase::squaredNorm() </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1QuaternionBase.html#abdb0743d0fe840b927780b2bd78fb29e">Matrix3</a> toRotationMatrix </td>
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<dl class="section return"><dt>Returns</dt><dd>an equivalent 3x3 rotation matrix</dd></dl>
<p>Convert the quaternion to a 3x3 rotation matrix. 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="classEigen_1_1VectorBlock.html">VectorBlock</a><const Coefficients,3> vec </td>
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<dl class="section return"><dt>Returns</dt><dd>a read-only vector expression of the imaginary part (x,y,z) </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1VectorBlock.html">VectorBlock</a><Coefficients,3> vec </td>
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<dl class="section return"><dt>Returns</dt><dd>a vector expression of the imaginary part (x,y,z) </dd></dl>
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<td class="memname">Scalar w </td>
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<dl class="section return"><dt>Returns</dt><dd>the <code>w</code> coefficient </dd></dl>
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<dl class="section return"><dt>Returns</dt><dd>a reference to the <code>w</code> coefficient </dd></dl>
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<dl class="section return"><dt>Returns</dt><dd>the <code>x</code> coefficient </dd></dl>
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<dl class="section return"><dt>Returns</dt><dd>a reference to the <code>x</code> coefficient </dd></dl>
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<dl class="section return"><dt>Returns</dt><dd>the <code>y</code> coefficient </dd></dl>
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<dl class="section return"><dt>Returns</dt><dd>a reference to the <code>y</code> coefficient </dd></dl>
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<td class="memname">Scalar z </td>
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<dl class="section return"><dt>Returns</dt><dd>the <code>z</code> coefficient </dd></dl>
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<dl class="section return"><dt>Returns</dt><dd>a reference to the <code>z</code> coefficient </dd></dl>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="Quaternion_8h_source.html">Quaternion.h</a></li>
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