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Add Quaternion constructor from real scalar and imaginary vector

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H S Helson Go
2023-06-06 21:51:22 -04:00
committed by Antonio Sánchez
parent 31cd2ad371
commit bc57b926a0
2 changed files with 13 additions and 0 deletions
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9
Eigen/src/Geometry/Quaternion.h
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@@ -298,6 +298,15 @@ public:
*/
EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
/** Constructs and initializes a quaternion from its real part as a scalar,
* and its imaginary part as a 3-vector [\c x, \c y, \c z]
*/
template <typename Derived>
EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Eigen::MatrixBase<Derived>& vec)
: m_coeffs(vec.x(), vec.y(), vec.z(), w) {
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3);
}
/** Constructs and initialize a quaternion from the array data */
EIGEN_DEVICE_FUNC explicit inline Quaternion(const Scalar* data) : m_coeffs(data) {}