Namespaces | Functions
OsgQuaternionConversions.h File Reference
#include "SurgSim/Math/Quaternion.h"
#include <osg/Quat>

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Namespaces

 SurgSim
 
 SurgSim::Graphics
 

Functions

osg::Quat SurgSim::Graphics::toOsg (const SurgSim::Math::Quaternionf &quaternion)
 Convert quaternion of floats to OSG. More...
 
osg::Quat SurgSim::Graphics::toOsg (const SurgSim::Math::Quaterniond &quaternion)
 Convert quaternion of doubles to OSG. More...
 
template<typename T >
Eigen::Quaternion< T > SurgSim::Graphics::fromOsg (const osg::Quat &quaternion)
 Convert from OSG to either quaternion of floats or doubles. More...
 

Detailed Description

Conversions to and from OSG quaternion types

Note that the Eigen quaternion constructor takes the W component first, while OSG stores it last.

Also note that OSG only has one Quat type, which uses double for the value type. Conversions are provided to and from this type for both SurgSim::Math::Quaternionf and SurgSim::Math::Quaterniond.