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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
rbmRigidBodyManipulator object
frameA– Body/frame name or frame id/body idx
frameB– Body/frame name or frame id/body idx
Return values
objRelativeQuaternion object

Member Function Documentation

function eval ( obj  ,
 
)

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: