From 446388560a2fb99de7ab0e1e537656428c71b9d3 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Thu, 8 Jan 2015 15:24:41 +0100
Subject: [PATCH] extended Quaternion constructor
---
source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp | 8 ++++++++
source/RobotAPI/libraries/robotstate/remote/ArmarPose.h | 1 +
2 files changed, 9 insertions(+)
diff --git a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
index b89b63fac..d6f2c2449 100644
--- a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
+++ b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
@@ -122,6 +122,14 @@ namespace armarx
this->init(q);
}
+ Quaternion::Quaternion(::Ice::Float qw, ::Ice::Float qx, ::Ice::Float qy, ::Ice::Float qz)
+ {
+ this->qw = qw;
+ this->qx = qx;
+ this->qy = qy;
+ this->qz = qz;
+ }
+
Matrix3f Quaternion::toEigen() const
{
Matrix3f rot;
diff --git a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
index 34abe0f16..98131676c 100644
--- a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
+++ b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
@@ -133,6 +133,7 @@ namespace armarx
Quaternion(const Eigen::Matrix4f &);
Quaternion(const Eigen::Matrix3f &);
Quaternion(const Eigen::Quaternionf &);
+ Quaternion(::Ice::Float qw, ::Ice::Float qx, ::Ice::Float qy, ::Ice::Float qz);
Eigen::Matrix3f toEigen() const;
Eigen::Matrix3f slerp(float, const Eigen::Matrix3f &);
--
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