123 lines
4.5 KiB
123 lines
4.5 KiB
// This file is part of Eigen, a lightweight C++ template library
|
|
// for linear algebra.
|
|
//
|
|
// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
|
|
//
|
|
// This Source Code Form is subject to the terms of the Mozilla
|
|
// Public License v. 2.0. If a copy of the MPL was not distributed
|
|
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
|
|
|
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
|
|
|
|
namespace Eigen {
|
|
|
|
// this file aims to contains the various representations of rotation/orientation
|
|
// in 2D and 3D space excepted Matrix and Quaternion.
|
|
|
|
/** \class RotationBase
|
|
*
|
|
* \brief Common base class for compact rotation representations
|
|
*
|
|
* \param Derived is the derived type, i.e., a rotation type
|
|
* \param _Dim the dimension of the space
|
|
*/
|
|
template<typename Derived, int _Dim>
|
|
class RotationBase
|
|
{
|
|
public:
|
|
enum { Dim = _Dim };
|
|
/** the scalar type of the coefficients */
|
|
typedef typename ei_traits<Derived>::Scalar Scalar;
|
|
|
|
/** corresponding linear transformation matrix type */
|
|
typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
|
|
|
|
inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
|
|
inline Derived& derived() { return *static_cast<Derived*>(this); }
|
|
|
|
/** \returns an equivalent rotation matrix */
|
|
inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
|
|
|
|
/** \returns the inverse rotation */
|
|
inline Derived inverse() const { return derived().inverse(); }
|
|
|
|
/** \returns the concatenation of the rotation \c *this with a translation \a t */
|
|
inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const
|
|
{ return toRotationMatrix() * t; }
|
|
|
|
/** \returns the concatenation of the rotation \c *this with a scaling \a s */
|
|
inline RotationMatrixType operator*(const Scaling<Scalar,Dim>& s) const
|
|
{ return toRotationMatrix() * s; }
|
|
|
|
/** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
|
|
inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
|
|
{ return toRotationMatrix() * t; }
|
|
};
|
|
|
|
/** \geometry_module
|
|
*
|
|
* Constructs a Dim x Dim rotation matrix from the rotation \a r
|
|
*/
|
|
template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
|
|
template<typename OtherDerived>
|
|
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
|
|
::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
|
|
{
|
|
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
|
|
*this = r.toRotationMatrix();
|
|
}
|
|
|
|
/** \geometry_module
|
|
*
|
|
* Set a Dim x Dim rotation matrix from the rotation \a r
|
|
*/
|
|
template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
|
|
template<typename OtherDerived>
|
|
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
|
|
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
|
|
::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
|
|
{
|
|
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
|
|
return *this = r.toRotationMatrix();
|
|
}
|
|
|
|
/** \internal
|
|
*
|
|
* Helper function to return an arbitrary rotation object to a rotation matrix.
|
|
*
|
|
* \param Scalar the numeric type of the matrix coefficients
|
|
* \param Dim the dimension of the current space
|
|
*
|
|
* It returns a Dim x Dim fixed size matrix.
|
|
*
|
|
* Default specializations are provided for:
|
|
* - any scalar type (2D),
|
|
* - any matrix expression,
|
|
* - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
|
|
*
|
|
* Currently ei_toRotationMatrix is only used by Transform.
|
|
*
|
|
* \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
|
|
*/
|
|
template<typename Scalar, int Dim>
|
|
static inline Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s)
|
|
{
|
|
EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
|
|
return Rotation2D<Scalar>(s).toRotationMatrix();
|
|
}
|
|
|
|
template<typename Scalar, int Dim, typename OtherDerived>
|
|
static inline Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
|
|
{
|
|
return r.toRotationMatrix();
|
|
}
|
|
|
|
template<typename Scalar, int Dim, typename OtherDerived>
|
|
static inline const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat)
|
|
{
|
|
EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
|
|
YOU_MADE_A_PROGRAMMING_MISTAKE)
|
|
return mat;
|
|
}
|
|
|
|
} // end namespace Eigen
|