Hi all,

I have a question on rotations using Quaternions (Q) applied on complex vector (v = Eigen::Vector3cd).

Using an Quaternion<double> is not possible because the operation of Q*v is not defined (YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY), however using Quaternion< complex<double> > doubles the required storage, with the unnecessary imaginary part which is zero.

Do you have any suggestions on howto proceed without casting to some temporary object?

Thanks,

Matthias

Sorry, wrong thread...

Indeed, we should allow that. In the meantime you can either apply it twice:

w.real() = A*v.real();
w.imag() = A*v.imag();

or convert it to a real rotation matrix for which mixing real and complex is allowed:

Matrix3d R(Q);
w = R * v;

If you apply R/Q to more than a single vector, then this conversion to a matrix will be faster than applying Q directly.

Thank you very much. I think I will proceed with the conversion to a real matrix