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Stack Of Tasks
eigenpy
Commits
715c8d54
Commit
715c8d54
authored
Jan 04, 2018
by
jcarpent
Browse files
[Geometry] Remove reference to QuaternionBase
parent
f6784a62
Changes
1
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Inline
Side-by-side
src/quaternion.hpp
View file @
715c8d54
...
...
@@ -112,7 +112,7 @@ namespace eigenpy
.
def
(
"_transformVector"
,
&
Quaternion
::
_transformVector
,
bp
::
arg
(
"vector"
),
"Rotation of a vector by a quaternion."
)
.
def
(
"vec"
,
&
vec
,
"Returns a vector expression of the imaginary part (x,y,z)."
)
.
def
(
"angularDistance"
,
&
Quaternion
::
template
angularDistance
<
Quaternion
>,
"Returns the angle (in radian) between two rotations."
)
.
def
(
"slerp"
,
&
Quaternion
::
template
slerp
<
Quaternion
>
,
bp
::
args
(
"t"
,
"other"
),
.
def
(
"slerp"
,
&
slerp
,
bp
::
args
(
"t"
,
"other"
),
"Returns the spherical linear interpolation between the two quaternions *this and other at the parameter t in [0;1]."
)
/* --- Operators --- */
...
...
@@ -205,6 +205,9 @@ namespace eigenpy
return
ss
.
str
();
}
static
Quaternion
slerp
(
const
Quaternion
&
self
,
const
Scalar
t
,
const
Quaternion
&
other
)
{
return
self
.
slerp
(
t
,
other
);
}
public:
...
...
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