Drake
RelativeQuaternion Class Reference

Quaternion from frame A to frame B. More...

Inheritance diagram for RelativeQuaternion:
Collaboration diagram for RelativeQuaternion:

## Public Member Functions

function RelativeQuaternion (rbm, frameA, frameB)
obj = drakeFunction.kinematic.RelativeQuaternion(rbm,frameA,frameB) returns a RelativeQuaternion object that computes the quaternion that transforms directions in frame A to directions in frame B of the origin of frame A relative to frame B More...

function eval (obj, q)
quat = eval(obj,q) returns the relative quaternion More...

## Protected Member Functions

function kinematicsPathJoints (obj)

## Detailed Description

Quaternion from frame A to frame B.

## Constructor & Destructor Documentation

 function RelativeQuaternion ( rbm , frameA , frameB )

obj = drakeFunction.kinematic.RelativeQuaternion(rbm,frameA,frameB) returns a RelativeQuaternion object that computes the quaternion that transforms directions in frame A to directions in frame B of the origin of frame A relative to frame B

Parameters
 rbm – RigidBodyManipulator object frameA – Body/frame name or frame id/body idx frameB – Body/frame name or frame id/body idx
Return values
 obj – RelativeQuaternion object

## Member Function Documentation

 function eval ( obj , q )

quat = eval(obj,q) returns the relative quaternion

[quat,dquat] = eval(obj,q) also returns the Jacobian of the relative quaternion

Parameters
 obj – drakeFunction.kinematic.RelativeQuaternion object q – Column vector of joint positions
Return values
 quat dquat
 function kinematicsPathJoints ( obj )
protected
Return values
 joint_idx

The documentation for this class was generated from the following file:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/solvers/+drakeFunction/+kinematic/RelativeQuaternion.m