Functions
Vector3	makeVector3 (double x, double y, double z)

std::ostream &	operator<< (std::ostream &o, const Vector3 &t)

Quaternion	makeQuaternion (double x, double y, double z, double w)

Quaternion	makeQuaternionFromAngleAxis (double angle, const Vector3 &axis)

std::ostream &	operator<< (std::ostream &o, const Quaternion &r)

double	norm (const Quaternion &r)

bool	isNormalized (const Quaternion &r, double epsilon)

void	normalize (Quaternion &r)

Quaternion	normalized (const Quaternion &r)

Transform	makeTransform (const Quaternion &rotation, const Vector3 &translation)

std::ostream &	operator<< (std::ostream &o, const Transform &tf)

Eigen::Affine3d	toEigenAffine3d (const Transform &tf)

Transform	operator* (const Transform &lhs, const Transform &rhs)

bool	isNear (const Transform &lhs, const Transform &rhs, double epsilon)

Transform	inverse (const Transform &tf)

Function Documentation

Transform qi::geometry::inverse ( const Transform & tf )

inline

Definition at line 120 of file qigeometry.h.

inline

Definition at line 111 of file qigeometry.h.

bool qi::geometry::isNormalized	(	const Quaternion &	r,
		double	epsilon
	)

inline

Definition at line 54 of file qigeometry.h.

Quaternion qi::geometry::makeQuaternion	(	double	x,
		double	y,
		double	z,
		double	w
	)

inline

Definition at line 29 of file qigeometry.h.

Quaternion qi::geometry::makeQuaternionFromAngleAxis	(	double	angle,
		const Vector3 &	axis
	)

inline

Definition at line 34 of file qigeometry.h.

Transform qi::geometry::makeTransform	(	const Quaternion &	rotation,
		const Vector3 &	translation
	)

inline

Definition at line 74 of file qigeometry.h.

Vector3 qi::geometry::makeVector3	(	double	x,
		double	y,
		double	z
	)

inline

Definition at line 19 of file qigeometry.h.

double qi::geometry::norm ( const Quaternion & r )

inline

Definition at line 49 of file qigeometry.h.

void qi::geometry::normalize ( Quaternion & r )

inline

Definition at line 60 of file qigeometry.h.

Quaternion qi::geometry::normalized ( const Quaternion & r )

inline

Definition at line 66 of file qigeometry.h.

Transform qi::geometry::operator*	(	const Transform &	lhs,
		const Transform &	rhs
	)

inline

Definition at line 96 of file qigeometry.h.

std::ostream& qi::geometry::operator<<	(	std::ostream &	o,
		const Vector3 &	t
	)

inline

Definition at line 24 of file qigeometry.h.

std::ostream& qi::geometry::operator<<	(	std::ostream &	o,
		const Quaternion &	r
	)

inline

Definition at line 43 of file qigeometry.h.

std::ostream& qi::geometry::operator<<	(	std::ostream &	o,
		const Transform &	tf
	)

inline

Definition at line 80 of file qigeometry.h.

Eigen::Affine3d qi::geometry::toEigenAffine3d ( const Transform & tf )

inline

Definition at line 86 of file qigeometry.h.

Functions