Apollo 10.0
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quaternion.h 文件参考

Contains a number of helper functions related to quaternions. 更多...

#include <cmath>
#include "Eigen/Dense"
#include "Eigen/Geometry"
#include "modules/common/math/euler_angles_zxy.h"
#include "modules/common/math/math_utils.h"
#include "modules/common_msgs/basic_msgs/geometry.pb.h"
quaternion.h 的引用(Include)关系图:
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浏览源代码.

命名空间

namespace  apollo::common::math
 apollo::common::math
 
namespace  apollo
 class register implement
 
namespace  apollo::common
 apollo::common
 

函数

double apollo::common::math::QuaternionToHeading (const double qw, const double qx, const double qy, const double qz)
 
template<typename T >
apollo::common::math::QuaternionToHeading (const Eigen::Quaternion< T > &q)
 
template<typename T >
Eigen::Quaternion< T > apollo::common::math::HeadingToQuaternion (T heading)
 
Eigen::Vector3d apollo::common::math::QuaternionRotate (const Quaternion &orientation, const Eigen::Vector3d &original)
 
Eigen::Vector3d apollo::common::math::InverseQuaternionRotate (const Quaternion &orientation, const Eigen::Vector3d &rotated)
 

详细描述

Contains a number of helper functions related to quaternions.

The reader should refer to euler_angles_zxy.h for clarifications. However, although the vehicle frame defined therein might change, the definition of the heading of the car, used below, is permanently fixed: 0 at East, pi/2 at North, -pi/2 at South.

在文件 quaternion.h 中定义.