transform.h File Reference

#include "coal/fwd.hh"
#include "coal/data_types.h"

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Classes
class	coal::Transform3s
	Simple transform class used locally by InterpMotion. More...

Namespaces
namespace	coal
	Main namespace.

Typedefs
typedef Eigen::Quaternion< CoalScalar >	coal::Quaternion3f
typedef Eigen::Quaternion< CoalScalar >	coal::Quatf

Functions
template<typename Derived>
Quatf	coal::fromAxisAngle (const Eigen::MatrixBase< Derived > &axis, CoalScalar angle)
Quatf	coal::uniformRandomQuaternion ()
	Uniformly random quaternion sphere. Code taken from Pinocchio (https://github.com/stack-of-tasks/pinocchio).
Matrix3s	coal::constructOrthonormalBasisFromVector (const Vec3s &vec)
	Construct othonormal basis from vector. The z-axis is the normalized input vector.