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| Orientation (Matrix3d const &rotation, double hostTimestamp=std::numeric_limits< double >::infinity(), std::int64_t edgeTimestamp=(std::numeric_limits< std::int64_t >::min)()) |
| Construct an orientation (3dof) rotation and timestamps.
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| Orientation (Vector4d const &quaternion, double hostTimestamp=std::numeric_limits< double >::infinity(), std::int64_t edgeTimestamp=(std::numeric_limits< std::int64_t >::min)()) |
| Construct an orientation (3dof) rotation and timestamps.
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Vector4d const & | quaternion () const |
| Get the quaternion of the rotation [qx,qy,qz,qw].
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void | setQuaternion (Vector4d const &v) |
| Set the quaternion of the rotation [qx,qy,qz,qw].
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void | setQuaternion (double const *v) |
| Set the quaternion of the rotation using pointer of 4D array [qx,qy,qz,qw].
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Matrix3d const & | rotation () const |
| Get the rotation matrix part of the transformation.
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void | setRotation (Matrix3d const &v) |
| Get the rotation matrix part of the transformation.
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void | setRotation (double const *v) |
| Set the quaternion of the rotation using pointer of 4D array.
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Vector3d const & | angularVelocity () const |
| An estimation of instantaneous angular velocity of the pose. More...
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void | setAngularVelocity (Vector3d const &v) |
| Set an estimation of instantaneous angular velocity of the pose. More...
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void | setAngularVelocity (double const *v) |
| Set an estimation of instantaneous angular velocity of the pose. More...
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void | setAngularAcceleration (Vector3d const &v) |
| Set an estimation of instantaneous angular acceleration of the pose. More...
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void | setAngularAcceleration (double const *v) |
| Set an estimation of instantaneous angular acceleration of the pose. More...
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Orientation | prediction (double dt) const |
| Prediction of the orientation based on angular velocity and acceleration. More...
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Orientation only (3dof) of the pose.