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 >
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.