Commit 715c8d54 authored by jcarpent's avatar jcarpent
Browse files

[Geometry] Remove reference to QuaternionBase

parent f6784a62
...@@ -112,7 +112,7 @@ namespace eigenpy ...@@ -112,7 +112,7 @@ namespace eigenpy
.def("_transformVector",&Quaternion::_transformVector,bp::arg("vector"),"Rotation of a vector by a quaternion.") .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("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("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].") "Returns the spherical linear interpolation between the two quaternions *this and other at the parameter t in [0;1].")
/* --- Operators --- */ /* --- Operators --- */
...@@ -205,6 +205,9 @@ namespace eigenpy ...@@ -205,6 +205,9 @@ namespace eigenpy
return ss.str(); return ss.str();
} }
static Quaternion slerp(const Quaternion & self, const Scalar t, const Quaternion & other)
{ return self.slerp(t,other); }
public: public:
......
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