QuaternionMath extension
Rigid-body maths on the geometry_msgs value types.
ROS convention (REP-103): a RosTransform with header.frame_id = parent
and child_frame_id = child expresses the pose of child in parent, and
applying it to a point maps that point from child coordinates into parent
coordinates.
- on
Properties
- inverse → Quaternion
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Available on Quaternion, provided by the QuaternionMath extension
The inverse rotation. Unit quaternions invert by conjugation.no setter - norm → double
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Available on Quaternion, provided by the QuaternionMath extension
no setter - normalized → Quaternion
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Available on Quaternion, provided by the QuaternionMath extension
no setter - rpy → ({double pitch, double roll, double yaw})
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Available on Quaternion, provided by the QuaternionMath extension
Roll, pitch and yaw in radians (XYZ fixed-axis, per REP-103).no setter
Methods
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rotate(
Vector3 v) → Vector3 -
Available on Quaternion, provided by the QuaternionMath extension
Rotatesvby this quaternion. -
slerp(
Quaternion other, double t) → Quaternion -
Available on Quaternion, provided by the QuaternionMath extension
Spherical linear interpolation towardsotherbytin0..1.
Operators
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operator *(
Quaternion other) → Quaternion -
Available on Quaternion, provided by the QuaternionMath extension
Hamilton product: the rotationotherfollowed by this one.