From 5e5601cbb58f68608131017a895f454156307966 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Mon, 15 Jun 2015 14:03:17 +0200
Subject: [PATCH] revised Quaternion class
added convenience function convert ArmarX quaternion variant type to Eigen::Quaternionf
---
source/RobotAPI/libraries/core/Pose.cpp | 5 +++++
source/RobotAPI/libraries/core/Pose.h | 1 +
2 files changed, 6 insertions(+)
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index 1464eb5cd..cc4ba42ef 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -222,6 +222,11 @@ namespace armarx
return rot;
}
+ Eigen::Quaternionf Quaternion::toEigenQuaternion() const
+ {
+ return Quaternionf(this->qw, this->qx, this->qy, this->qz);
+ }
+
void Quaternion::init(const Matrix3f &m3)
{
Quaternionf q;
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index 38a176465..727cac0e2 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -188,6 +188,7 @@ namespace armarx
Quaternion(::Ice::Float qw, ::Ice::Float qx, ::Ice::Float qy, ::Ice::Float qz);
Eigen::Matrix3f toEigen() const;
+ Eigen::Quaternionf toEigenQuaternion() const;
Eigen::Matrix3f slerp(float, const Eigen::Matrix3f &);
static Eigen::Matrix3f slerp(float, const Eigen::Matrix3f &, const Eigen::Matrix3f &);
--
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