Re: [eigen] Quaternion initialization from Block/segment (Eigen 3 beta 1)

[Christoph Hertzberg <chtz@xxxxxxxxxxxxxxxxxxxxxxxx>]

Jens Andersen wrote:
> Hi from a long time lurker, one-time poster 
>
> I'm trying to use eigen to efficiently work with a quaternion stored inside an Eigen::VectorXd (a state vector in an EKF-based SLAM)

In Eigen3 there is a QuaternionMapd. It should work like this:

Eigen::VectorXd myvector;
Eigen::QuaternionMapd q(myvector.data()+3);

and then use (and modify) q like an ordinary quaternion.




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Dipl.-Inf. Christoph Hertzberg
Cartesium 0.051
Universität Bremen
Enrique-Schmidt-Straße 5
28359 Bremen

Tel: (+49) 421-218-64252
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