Apollo 10.0
自动驾驶开放平台
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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"
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 > | |
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) |
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.