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)