16 #ifndef SURGSIM_TESTING_MATHUTILITIES_H 17 #define SURGSIM_TESTING_MATHUTILITIES_H 25 #include <Eigen/Geometry> 40 return (1 - t) * start + t * end;
46 return interpolate<T>(values.first, values.second, t);
97 template<
class T,
int Dim>
98 ::std::ostream& operator<<(::std::ostream& os, const Eigen::AlignedBox<T, Dim>& box)
100 os <<
"[" << box.min().transpose() <<
", " << box.max().transpose() <<
"]";
Definitions of quaternion types.
Definition: DriveElementFromInputBehavior.cpp:27
Definition: MathUtilities.h:94
SurgSim::Math::RigidTransform3d interpolatePose(const Vector3d &startAngles, const Vector3d &endAngles, const Vector3d &startPosition, const Vector3d &endPosition, const double &t)
Definition: MathUtilities.cpp:32
Eigen::Quaternion< double > Quaterniond
A quaternion of doubles.
Definition: Quaternion.h:38
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Definitions of small fixed-size vector types.
SurgSim::Math::Quaterniond interpolate(const SurgSim::Math::Quaterniond &start, const SurgSim::Math::Quaterniond &end, const double &t)
Definition: MathUtilities.cpp:49
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:56