Eigen  3.4.90 (git rev a4098ac676528a83cfb73d4d26ce1b42ec05f47c)
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
13#include "./InternalHeaderCheck.h"
14
15namespace Eigen {
16
17// forward declaration
18namespace internal {
19template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
20struct rotation_base_generic_product_selector;
21}
22
30template<typename Derived, int Dim_>
32{
33 public:
34 enum { Dim = Dim_ };
36 typedef typename internal::traits<Derived>::Scalar Scalar;
37
41
42 public:
43 EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
44 EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
45
47 EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
48
52 EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
53
55 EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
56
58 EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
59 { return Transform<Scalar,Dim,Isometry>(*this) * t; }
60
62 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
63 { return toRotationMatrix() * s.factor(); }
64
71 template<typename OtherDerived>
72 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
74 { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
75
77 template<typename OtherDerived> friend
78 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
79 { return l.derived() * r.toRotationMatrix(); }
80
82 EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
83 {
85 res.linear().applyOnTheLeft(l);
86 return res;
87 }
88
90 template<int Mode, int Options>
92 { return toRotationMatrix() * t; }
93
94 template<typename OtherVectorType>
95 EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
96 { return toRotationMatrix() * v; }
97};
98
99namespace internal {
100
101// implementation of the generic product rotation * matrix
102template<typename RotationDerived, typename MatrixType>
103struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
104{
105 enum { Dim = RotationDerived::Dim };
106 typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
107 EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
108 { return r.toRotationMatrix() * m; }
109};
110
111template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
112struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
113{
114 typedef Transform<Scalar,Dim,Affine> ReturnType;
115 EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
116 {
117 ReturnType res(r);
118 res.linear() *= m;
119 return res;
120 }
121};
122
123template<typename RotationDerived,typename OtherVectorType>
124struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
125{
126 enum { Dim = RotationDerived::Dim };
127 typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
128 EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
129 {
130 return r._transformVector(v);
131 }
132};
133
134} // end namespace internal
135
140template<typename Scalar_, int Rows_, int Cols_, int _Storage, int MaxRows_, int MaxCols_>
141template<typename OtherDerived>
144{
145 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
146 *this = r.toRotationMatrix();
147}
148
153template<typename Scalar_, int Rows_, int Cols_, int _Storage, int MaxRows_, int MaxCols_>
154template<typename OtherDerived>
158{
159 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
160 return *this = r.toRotationMatrix();
161}
162
163namespace internal {
164
183template<typename Scalar, int Dim>
184EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
185{
186 EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
188}
189
190template<typename Scalar, int Dim, typename OtherDerived>
191EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
192{
193 return r.toRotationMatrix();
194}
195
196template<typename Scalar, int Dim, typename OtherDerived>
197EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
198{
199 EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
200 YOU_MADE_A_PROGRAMMING_MISTAKE)
201 return mat;
202}
203
204} // end namespace internal
205
206} // end namespace Eigen
207
208#endif // EIGEN_ROTATIONBASE_H
Represents a diagonal matrix with its storage.
Definition: DiagonalMatrix.h:144
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:182
Matrix()
Default constructor.
Definition: Matrix.h:261
Matrix & operator=(const Matrix &other)
Assigns matrices to each other.
Definition: Matrix.h:208
Represents a rotation/orientation in a 2 dimensional space.
Definition: Rotation2D.h:44
Matrix2 toRotationMatrix() const
Definition: Rotation2D.h:190
Common base class for compact rotation representations.
Definition: RotationBase.h:32
RotationMatrixType matrix() const
Definition: RotationBase.h:52
internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType operator*(const EigenBase< OtherDerived > &e) const
Definition: RotationBase.h:73
Derived inverse() const
Definition: RotationBase.h:55
Matrix< Scalar, Dim, Dim > RotationMatrixType
Definition: RotationBase.h:39
friend RotationMatrixType operator*(const EigenBase< OtherDerived > &l, const Derived &r)
Definition: RotationBase.h:78
Transform< Scalar, Dim, Isometry > operator*(const Translation< Scalar, Dim > &t) const
Definition: RotationBase.h:58
Transform< Scalar, Dim, Mode > operator*(const Transform< Scalar, Dim, Mode, Options > &t) const
Definition: RotationBase.h:91
RotationMatrixType operator*(const UniformScaling< Scalar > &s) const
Definition: RotationBase.h:62
friend Transform< Scalar, Dim, Affine > operator*(const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)
Definition: RotationBase.h:82
internal::traits< Derived >::Scalar Scalar
Definition: RotationBase.h:36
RotationMatrixType toRotationMatrix() const
Definition: RotationBase.h:47
Represents an homogeneous transformation in a N dimensional space.
Definition: Transform.h:207
ConstLinearPart linear() const
Definition: Transform.h:398
Represents a translation transformation.
Definition: Translation.h:33
Represents a generic uniform scaling transformation.
Definition: Scaling.h:52
Namespace containing all symbols from the Eigen library.
Definition: B01_Experimental.dox:1
Definition: EigenBase.h:32
Derived & derived()
Definition: EigenBase.h:48