.def("matrix",&Quaternion::matrix,"Returns an equivalent 3x3 rotation matrix. Similar to toRotationMatrix.")
.def("matrix",&Quaternion::matrix,"Returns an equivalent 3x3 rotation matrix. Similar to toRotationMatrix.")
.def("toRotationMatrix",&Quaternion::toRotationMatrix,"Returns an equivalent 3x3 rotation matrix.")
.def("toRotationMatrix",&Quaternion::toRotationMatrix,"Returns an equivalent 3x3 rotation matrix.")
.def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transform a into b through a rotation."
.def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transforms a into b through a rotation."
,bp::return_self<>())
,bp::return_self<>())
.def("conjugate",&Quaternion::conjugate,"Returns the conjugated quaternion. The conjugate of a quaternion represents the opposite rotation.")
.def("conjugate",&Quaternion::conjugate,"Returns the conjugated quaternion. The conjugate of a quaternion represents the opposite rotation.")
.def("inverse",&Quaternion::inverse,"Returns the quaternion describing the inverse rotation.")
.def("inverse",&Quaternion::inverse,"Returns the quaternion describing the inverse rotation.")
...
@@ -142,13 +155,11 @@ namespace eigenpy
...
@@ -142,13 +155,11 @@ namespace eigenpy
// "Returns the quaternion which transform a into b through a rotation.")
// "Returns the quaternion which transform a into b through a rotation.")
.def("FromTwoVectors",&FromTwoVectors,
.def("FromTwoVectors",&FromTwoVectors,
bp::args("a","b"),
bp::args("a","b"),
"Returns the quaternion which transform a into b through a rotation.",
"Returns the quaternion which transforms a into b through a rotation.",
bp::return_value_policy<bp::manage_new_object>())
bp::return_value_policy<bp::manage_new_object>())
.staticmethod("FromTwoVectors")
.staticmethod("FromTwoVectors")
.def("Identity",&Quaternion::Identity,"Returns a quaternion representing an identity rotation.")
.def("Identity",&Quaternion::Identity,"Returns a quaternion representing an identity rotation.")