| Re: [eigen] Re: Quaternion initialization from Block/segment (Eigen 3 beta 1) |
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- To: eigen@xxxxxxxxxxxxxxxxxxx
- Subject: Re: [eigen] Re: Quaternion initialization from Block/segment (Eigen 3 beta 1)
- From: Hauke Heibel <hauke.heibel@xxxxxxxxxxxxxx>
- Date: Thu, 22 Jul 2010 20:05:04 +0200
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Hi Jens,
On Thu, Jul 22, 2010 at 7:56 PM, Jens Andersen <jens.andersen@xxxxxxxxx> wrote:
> On a similar note.
> Is it possible to do the following in a smarter way?
>
> X_new.segment(3,4) = Eigen::Vector4d(q.x(), q.y(), q.z(), q.w());
X_new.segment(3,4) = q.coeffs()
should work. Vice versa
q.coeffs() = X_new.segment(3,4);
should work as well for setting the quaternion.
I am actually wondering why we have .vec() !? It is equivalent to
q.coeffs().template head<3>(); What is the reasoning behind this
function?
I am just asking since for Transform we have .matrix() returning the
matrix equivalent of a transformation and I find it confusing that
q.vec() does something totally different.
- Hauke