#include <Eigen/Geometry>

Include dependency graph for OrientationUtils.hpp:

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Functions
Eigen::Vector3d	momentumopt::orientationError (const Eigen::Quaternion< double > &desired_orientation, const Eigen::Quaternion< double > &current_orientation)
	computes the error between two quaternions by rotating the desired orientation back by the current orientation, and taking the logarithm of the result.

Eigen::Vector3d	momentumopt::requiredAngularVelocity (const Eigen::Quaternion< double > &desired_orientation, const Eigen::Quaternion< double > &current_orientation, const double &time_step, bool in_body_coordinates=false)
	computation of the required angular velocity to move from a current orientation to a desired orientation in a given time interval. More...

Eigen::Quaternion< double >	momentumopt::integrateAngularVelocity (const Eigen::Quaternion< double > &current_orientation, const Eigen::Vector3d &angular_velocity, const double &time_step, bool in_body_coordinates=false)
	integration of a quaternion given an angular velocity given either in body or world coordinates and a time interval for integration

Detailed Description

Author: Brahayam Ponton (braha.nosp@m.yam..nosp@m.ponto.nosp@m.n@tu.nosp@m.ebing.nosp@m.en.m.nosp@m.pg.de)

Copyright: Copyright (c) 2019, New York University and Max Planck Gesellschaft.

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