10#ifndef EIGEN_EULERANGLESCLASS_H
11#define EIGEN_EULERANGLESCLASS_H
99 template <
typename _Scalar,
class _System>
119 const Vector3& u = Vector3::Unit(System::AlphaAxisAbs - 1);
120 return System::IsAlphaOpposite ? -u : u;
125 const Vector3& u = Vector3::Unit(System::BetaAxisAbs - 1);
126 return System::IsBetaOpposite ? -u : u;
131 const Vector3& u = Vector3::Unit(System::GammaAxisAbs - 1);
132 return System::IsGammaOpposite ? -u : u;
161 template<
typename Derived>
175 template<
typename Derived>
218 res.m_angles = -m_angles;
237 template<
class Derived>
240 EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename Derived::Scalar>::value),
241 YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
243 internal::eulerangles_assign_impl<System, Derived>::run(*
this, other.
derived());
254 template<
typename Derived>
291 template <
typename NewScalarType>
300#define EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(AXES, SCALAR_TYPE, SCALAR_POSTFIX) \
302 typedef EulerAngles<SCALAR_TYPE, EulerSystem##AXES> EulerAngles##AXES##SCALAR_POSTFIX;
304#define EIGEN_EULER_ANGLES_TYPEDEFS(SCALAR_TYPE, SCALAR_POSTFIX) \
305 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYZ, SCALAR_TYPE, SCALAR_POSTFIX) \
306 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYX, SCALAR_TYPE, SCALAR_POSTFIX) \
307 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZY, SCALAR_TYPE, SCALAR_POSTFIX) \
308 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZX, SCALAR_TYPE, SCALAR_POSTFIX) \
310 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZX, SCALAR_TYPE, SCALAR_POSTFIX) \
311 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZY, SCALAR_TYPE, SCALAR_POSTFIX) \
312 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXZ, SCALAR_TYPE, SCALAR_POSTFIX) \
313 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXY, SCALAR_TYPE, SCALAR_POSTFIX) \
315 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXY, SCALAR_TYPE, SCALAR_POSTFIX) \
316 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXZ, SCALAR_TYPE, SCALAR_POSTFIX) \
317 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYX, SCALAR_TYPE, SCALAR_POSTFIX) \
318 EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYZ, SCALAR_TYPE, SCALAR_POSTFIX)
320EIGEN_EULER_ANGLES_TYPEDEFS(
float, f)
321EIGEN_EULER_ANGLES_TYPEDEFS(
double, d)
325 template<
typename _Scalar,
class _System>
326 struct traits<EulerAngles<_Scalar, _System> >
328 typedef _Scalar Scalar;
332 template<
class System,
class Other>
333 struct eulerangles_assign_impl<System,Other,3,3>
335 typedef typename Other::Scalar Scalar;
336 static void run(EulerAngles<Scalar, System>& e,
const Other& m)
338 System::CalcEulerAngles(e, m);
343 template<
class System,
class Other>
344 struct eulerangles_assign_impl<System,Other,3,1>
346 typedef typename Other::Scalar Scalar;
347 static void run(EulerAngles<Scalar, System>& e,
const Other& vec)
Represents a rotation in a 3 dimensional space as three Euler angles.
Definition: EulerAngles.h:101
Vector3 & angles()
Definition: EulerAngles.h:195
AngleAxis< Scalar > AngleAxisType
Definition: EulerAngles.h:115
Matrix3 toRotationMatrix() const
Definition: EulerAngles.h:269
_System System
Definition: EulerAngles.h:110
Scalar beta() const
Definition: EulerAngles.h:203
EulerAngles inverse() const
Definition: EulerAngles.h:215
EulerAngles(const RotationBase< Derived, 3 > &rot)
Definition: EulerAngles.h:176
EulerAngles operator-() const
Definition: EulerAngles.h:225
_Scalar Scalar
Definition: EulerAngles.h:106
static Vector3 AlphaAxisVector()
Definition: EulerAngles.h:118
EulerAngles()
Definition: EulerAngles.h:140
EulerAngles & operator=(const RotationBase< Derived, 3 > &rot)
Definition: EulerAngles.h:255
EulerAngles(const Scalar *data)
Definition: EulerAngles.h:147
Scalar alpha() const
Definition: EulerAngles.h:198
EulerAngles(const Scalar &alpha, const Scalar &beta, const Scalar &gamma)
Definition: EulerAngles.h:142
const Vector3 & angles() const
Definition: EulerAngles.h:193
static Vector3 GammaAxisVector()
Definition: EulerAngles.h:130
bool isApprox(const EulerAngles &other, const RealScalar &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: EulerAngles.h:264
EulerAngles< NewScalarType, System > cast() const
Definition: EulerAngles.h:292
Scalar gamma() const
Definition: EulerAngles.h:208
EulerAngles(const MatrixBase< Derived > &other)
Definition: EulerAngles.h:162
Scalar & gamma()
Definition: EulerAngles.h:210
Matrix< Scalar, 3, 3 > Matrix3
Definition: EulerAngles.h:112
EulerAngles & operator=(const MatrixBase< Derived > &other)
Definition: EulerAngles.h:238
Quaternion< Scalar > QuaternionType
Definition: EulerAngles.h:114
Scalar & alpha()
Definition: EulerAngles.h:200
Scalar & beta()
Definition: EulerAngles.h:205
static Vector3 BetaAxisVector()
Definition: EulerAngles.h:124
Matrix< Scalar, 3, 1 > Vector3
Definition: EulerAngles.h:113
Matrix3 toRotationMatrix() const
RotationMatrixType toRotationMatrix() const
Matrix< Scalar, 3, 1 > eulerAngles(Index a0, Index a1, Index a2) const
Namespace containing all symbols from the Eigen library.