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Added syntactic sugar for quaternion creation

release/4.3a0
Alex Cunningham 2011-10-18 20:01:45 +00:00
parent 4e49c51c8a
commit 2abd5ee4aa
2 changed files with 5 additions and 0 deletions
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3
gtsam/geometry/Rot3.h
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@ -102,6 +102,9 @@ typedef Eigen::Quaterniond Quaternion;
static Rot3 roll (double t) { return Rx(t);} // positive roll is to right (increasing yaw in aircraft)
static Rot3 ypr (double y, double p, double r) { return RzRyRx(r,p,y);}
/** Create from Quaternion parameters */
static Rot3 quaternion(double w, double x, double y, double z) { Quaternion q(w, x, y, z); return Rot3(q); }
/**
* Rodriguez' formula to compute an incremental rotation matrix
* @param w is the rotation axis, unit length

2
gtsam/geometry/tests/testRot3.cpp
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@ -448,7 +448,9 @@ TEST(Rot3, quaternion) {
// Check creating Rot3 from quaternion
EXPECT(assert_equal(R1, Rot3(q1)));
EXPECT(assert_equal(R1, Rot3::quaternion(q1.w(), q1.x(), q1.y(), q1.z())));
EXPECT(assert_equal(R2, Rot3(q2)));
EXPECT(assert_equal(R2, Rot3::quaternion(q2.w(), q2.x(), q2.y(), q2.z())));
// Check converting Rot3 to quaterion
EXPECT(assert_equal(Vector(R1.toQuaternion().coeffs()), Vector(q1.coeffs())));