File kernel/src/utils/SiconosTools/RotationQuaternion.hpp¶

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Functions

double axisAngleFromQuaternion(double q0, double q1, double q2, double q3, SP::SiconosVector axis)¶

double axisAngleFromConfiguration(SP::SiconosVector q, SP::SiconosVector axis)¶

void rotationVectorFromQuaternion(double q0, double q1, double q2, double q3, SP::SiconosVector rotationVector)¶

void rotationVectorFromConfiguration(SP::SiconosVector q, SP::SiconosVector rotationVector)¶

void quaternionFromAxisAngle(SP::SiconosVector axis, double angle, SP::SiconosVector q)¶

void quaternionFromRotationVector(SP::SiconosVector rotationVector, SP::SiconosVector q)¶

void quaternionFromTwistVector(SiconosVector &twist, SiconosVector &q)¶

double quaternionNorm(const SiconosVector &q)¶

void normalizeq(SP::SiconosVector q)¶

void normalizeq(SiconosVector &q)¶

void computeRotationMatrix(double q0, double q1, double q2, double q3, SP::SimpleMatrix rotationMatrix)¶

void computeRotationMatrix(SP::SiconosVector q, SP::SimpleMatrix rotationMatrix)¶

void computeRotationMatrixTransposed(SP::SiconosVector q, SP::SimpleMatrix rotationMatrix)¶

void quaternionRotate(SP::SiconosVector q, SP::SiconosVector v)¶

void quaternionRotate(double q0, double q1, double q2, double q3, SiconosVector &v)¶

void quaternionRotate(double q0, double q1, double q2, double q3, SP::SiconosVector v)¶

void quaternionRotate(double q0, double q1, double q2, double q3, SP::SimpleMatrix m)¶

void quaternionRotate(SP::SiconosVector q, SP::SimpleMatrix m)¶

void changeFrameAbsToBody(const SiconosVector &q, SiconosVector &v)¶

void changeFrameAbsToBody(SP::SiconosVector q, SP::SiconosVector v)¶

void changeFrameAbsToBody(SP::SiconosVector q, SP::SimpleMatrix m)¶

void changeFrameBodyToAbs(const SiconosVector &q, SiconosVector &v)¶

void changeFrameBodyToAbs(SP::SiconosVector q, SP::SiconosVector v)¶

void changeFrameBodyToAbs(SP::SiconosVector q, SP::SimpleMatrix m)¶

void compositionLawLieGroup(const SiconosVector &a, SiconosVector &b, SiconosVector &ab)¶

void compositionLawLieGroup(const SiconosVector &a, SiconosVector &b)¶