Please, help us to better know about our user community by answering the following short survey: https://forms.gle/wpyrxWi18ox9Z5ae9
Eigen  3.4.0
 
Loading...
Searching...
No Matches
RotationBase.h
1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10#ifndef EIGEN_ROTATIONBASE_H
11#define EIGEN_ROTATIONBASE_H
12
13namespace Eigen {
14
15// forward declaration
16namespace internal {
17template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
18struct rotation_base_generic_product_selector;
19}
20
28template<typename Derived, int _Dim>
30{
31 public:
32 enum { Dim = _Dim };
34 typedef typename internal::traits<Derived>::Scalar Scalar;
35
39
40 public:
41 EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
42 EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
43
45 EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
46
50 EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
51
53 EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
54
56 EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
57 { return Transform<Scalar,Dim,Isometry>(*this) * t; }
58
60 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
61 { return toRotationMatrix() * s.factor(); }
62
69 template<typename OtherDerived>
70 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
72 { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
73
75 template<typename OtherDerived> friend
76 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
77 { return l.derived() * r.toRotationMatrix(); }
78
80 EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
81 {
83 res.linear().applyOnTheLeft(l);
84 return res;
85 }
86
88 template<int Mode, int Options>
90 { return toRotationMatrix() * t; }
91
92 template<typename OtherVectorType>
93 EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
94 { return toRotationMatrix() * v; }
95};
96
97namespace internal {
98
99// implementation of the generic product rotation * matrix
100template<typename RotationDerived, typename MatrixType>
101struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
102{
103 enum { Dim = RotationDerived::Dim };
104 typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
105 EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
106 { return r.toRotationMatrix() * m; }
107};
108
109template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
110struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
111{
112 typedef Transform<Scalar,Dim,Affine> ReturnType;
113 EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
114 {
115 ReturnType res(r);
116 res.linear() *= m;
117 return res;
118 }
119};
120
121template<typename RotationDerived,typename OtherVectorType>
122struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
123{
124 enum { Dim = RotationDerived::Dim };
125 typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
126 EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
127 {
128 return r._transformVector(v);
129 }
130};
131
132} // end namespace internal
133
138template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
139template<typename OtherDerived>
140EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
142{
143 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
144 *this = r.toRotationMatrix();
145}
146
151template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
152template<typename OtherDerived>
156{
157 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
158 return *this = r.toRotationMatrix();
159}
160
161namespace internal {
162
181template<typename Scalar, int Dim>
182EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
183{
184 EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
186}
187
188template<typename Scalar, int Dim, typename OtherDerived>
189EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
190{
191 return r.toRotationMatrix();
192}
193
194template<typename Scalar, int Dim, typename OtherDerived>
195EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
196{
197 EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
198 YOU_MADE_A_PROGRAMMING_MISTAKE)
199 return mat;
200}
201
202} // end namespace internal
203
204} // end namespace Eigen
205
206#endif // EIGEN_ROTATIONBASE_H
Represents a diagonal matrix with its storage.
Definition: DiagonalMatrix.h:142
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:180
Represents a rotation/orientation in a 2 dimensional space.
Definition: Rotation2D.h:42
Matrix2 toRotationMatrix() const
Definition: Rotation2D.h:188
Common base class for compact rotation representations.
Definition: RotationBase.h:30
RotationMatrixType operator*(const UniformScaling< Scalar > &s) const
Definition: RotationBase.h:60
Transform< Scalar, Dim, Isometry > operator*(const Translation< Scalar, Dim > &t) const
Definition: RotationBase.h:56
internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType operator*(const EigenBase< OtherDerived > &e) const
Definition: RotationBase.h:71
friend RotationMatrixType operator*(const EigenBase< OtherDerived > &l, const Derived &r)
Definition: RotationBase.h:76
friend Transform< Scalar, Dim, Affine > operator*(const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)
Definition: RotationBase.h:80
Matrix< Scalar, Dim, Dim > RotationMatrixType
Definition: RotationBase.h:37
Derived inverse() const
Definition: RotationBase.h:53
RotationMatrixType matrix() const
Definition: RotationBase.h:50
RotationMatrixType toRotationMatrix() const
Definition: RotationBase.h:45
Transform< Scalar, Dim, Mode > operator*(const Transform< Scalar, Dim, Mode, Options > &t) const
Definition: RotationBase.h:89
internal::traits< Derived >::Scalar Scalar
Definition: RotationBase.h:34
Represents an homogeneous transformation in a N dimensional space.
Definition: Transform.h:205
ConstLinearPart linear() const
Definition: Transform.h:394
Represents a translation transformation.
Definition: Translation.h:31
Represents a generic uniform scaling transformation.
Definition: Scaling.h:50
Namespace containing all symbols from the Eigen library.
Definition: Core:141
Definition: EigenBase.h:30
Derived & derived()
Definition: EigenBase.h:46