Functions for managing quaternions. More...

Functions
Vector4f	eul2quat (const Vector3f &euler)

Vector3f	quat2eul (const Vector4f &quat)

Vector3f	quat2stepperAngles (const Vector4f &q)

Vector4f	rotationMatrix2quat (const Matrix3f &rtm)

Matrix3f	quat2rotationMatrix (const Vector4f &q)

bool	quatNormalize (Vector4f &quat)

Vector4f	quatProd (const Vector4f &q1, const Vector4f &q2)

Eigen::Vector4f	eul2quat (const Eigen::Vector3f &euler)
	Transform a vector of euler angles (ZYX) to quaternion.

Eigen::Vector3f	quat2eul (const Eigen::Vector4f &quat)
	Transform a quaternion into a vector of euler angles (ZYX).

Eigen::Vector3f	quat2stepperAngles (const Eigen::Vector4f &quat)
	Translates quaternions to yaw and pitch angles assuming roll stays close to 0.

Eigen::Vector4f	rotationMatrix2quat (const Eigen::Matrix3f &rtm)
	Transform a rotation matrix into a quaternion.

Eigen::Matrix3f	quat2rotationMatrix (const Eigen::Vector4f &quat)
	Transform a quaternion into a rotation matrix.

bool	quatNormalize (Eigen::Vector4f &quat)
	Normalize a quaternion.

Eigen::Vector4f	quatProd (const Eigen::Vector4f &q1, const Eigen::Vector4f &q2)
	Compute the product of two quaternions.

Detailed Description

Functions for managing quaternions.

Convention used: [x, y, z, w] (scalar element as last element).

Function Documentation

◆ eul2quat() [1/2]

Eigen::Vector4f Boardcore::SkyQuaternion::eul2quat ( const Eigen::Vector3f & euler )

Transform a vector of euler angles (ZYX) to quaternion.

Parameters

euler The vector of euler angles to be transformed [deg].

Returns: Transformed quaternion [x, y, z, w].

◆ eul2quat() [2/2]

Vector4f Boardcore::SkyQuaternion::eul2quat ( const Vector3f & euler )

Definition at line 40 of file SkyQuaternion.cpp.

◆ quat2eul() [1/2]

Eigen::Vector3f Boardcore::SkyQuaternion::quat2eul ( const Eigen::Vector4f & quat )

Transform a quaternion into a vector of euler angles (ZYX).

Parameters

quat	The quaternion to be transformed [x, y, z, w].

Returns: Transformed vector of euler angles [deg].

◆ quat2eul() [2/2]

Vector3f Boardcore::SkyQuaternion::quat2eul ( const Vector4f & quat )

Definition at line 62 of file SkyQuaternion.cpp.

◆ quat2rotationMatrix() [1/2]

Eigen::Matrix3f Boardcore::SkyQuaternion::quat2rotationMatrix ( const Eigen::Vector4f & quat )

Transform a quaternion into a rotation matrix.

Parameters

quat	The quaternion to be transformed [x, y, z, w].

Returns: Transformed rotation matrix.

◆ quat2rotationMatrix() [2/2]

Matrix3f Boardcore::SkyQuaternion::quat2rotationMatrix ( const Vector4f & q )

Definition at line 196 of file SkyQuaternion.cpp.

◆ quat2stepperAngles() [1/2]

Eigen::Vector3f Boardcore::SkyQuaternion::quat2stepperAngles ( const Eigen::Vector4f & quat )

Translates quaternions to yaw and pitch angles assuming roll stays close to 0.

This applies to systems with 2 degrees of freedom, used to get the absolute yaw and pitch angles wrt the north.

Parameters

quat	The quaternion to be transformed (scalar last: [x, y, z, w]).

Returns: Yaw, Pitch and Roll angles, with Roll set to 0. [deg]

◆ quat2stepperAngles() [2/2]

Vector3f Boardcore::SkyQuaternion::quat2stepperAngles ( const Vector4f & q )

Definition at line 87 of file SkyQuaternion.cpp.

◆ quatNormalize() [1/2]

bool Boardcore::SkyQuaternion::quatNormalize ( Eigen::Vector4f & quat )

Normalize a quaternion.

Parameters

quat	The quaternion to be normalized [x, y, z, w].

Returns: True if the operation succeeded or not.

◆ quatNormalize() [2/2]

bool Boardcore::SkyQuaternion::quatNormalize ( Vector4f & quat )

Definition at line 219 of file SkyQuaternion.cpp.

◆ quatProd() [1/2]

Eigen::Vector4f Boardcore::SkyQuaternion::quatProd	(	const Eigen::Vector4f &	q1,
		const Eigen::Vector4f &	q2 )

Compute the product of two quaternions.

Parameters

q1	First factor [x, y, z, w].
q2	Second factor [x, y, z, w].

Returns: The resulting quaternions product [x, y, z, w].

◆ quatProd() [2/2]

Vector4f Boardcore::SkyQuaternion::quatProd	(	const Vector4f &	q1,
		const Vector4f &	q2 )

Definition at line 231 of file SkyQuaternion.cpp.

◆ rotationMatrix2quat() [1/2]

Eigen::Vector4f Boardcore::SkyQuaternion::rotationMatrix2quat ( const Eigen::Matrix3f & rtm )

Transform a rotation matrix into a quaternion.

Parameters

rtm	The rotation matrix to be transformed (3x3).

Returns: Transformed quaternion [x, y, z, w].

◆ rotationMatrix2quat() [2/2]

Vector4f Boardcore::SkyQuaternion::rotationMatrix2quat ( const Matrix3f & rtm )

Definition at line 125 of file SkyQuaternion.cpp.