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- // This file is part of Eigen, a lightweight C++ template library
- // for linear algebra.
- //
- // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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/.
- #ifndef EIGEN_ROTATIONBASE_H
- #define EIGEN_ROTATIONBASE_H
- namespace Eigen {
- // forward declaration
- namespace internal {
- template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
- struct rotation_base_generic_product_selector;
- }
- /** \class RotationBase
- *
- * \brief Common base class for compact rotation representations
- *
- * \tparam Derived is the derived type, i.e., a rotation type
- * \tparam _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 internal::traits<Derived>::Scalar Scalar;
- /** corresponding linear transformation matrix type */
- typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
- typedef Matrix<Scalar,Dim,1> VectorType;
- public:
- EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
- EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
- /** \returns an equivalent rotation matrix */
- EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
- /** \returns an equivalent rotation matrix
- * This function is added to be conform with the Transform class' naming scheme.
- */
- EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
- /** \returns the inverse rotation */
- EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
- /** \returns the concatenation of the rotation \c *this with a translation \a t */
- EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
- { return Transform<Scalar,Dim,Isometry>(*this) * t; }
- /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
- EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
- { return toRotationMatrix() * s.factor(); }
- /** \returns the concatenation of the rotation \c *this with a generic expression \a e
- * \a e can be:
- * - a DimxDim linear transformation matrix
- * - a DimxDim diagonal matrix (axis aligned scaling)
- * - a vector of size Dim
- */
- template<typename OtherDerived>
- EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
- operator*(const EigenBase<OtherDerived>& e) const
- { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
- /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
- template<typename OtherDerived> friend
- EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
- { return l.derived() * r.toRotationMatrix(); }
- /** \returns the concatenation of a scaling \a l with the rotation \a r */
- EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
- {
- Transform<Scalar,Dim,Affine> res(r);
- res.linear().applyOnTheLeft(l);
- return res;
- }
- /** \returns the concatenation of the rotation \c *this with a transformation \a t */
- template<int Mode, int Options>
- EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
- { return toRotationMatrix() * t; }
- template<typename OtherVectorType>
- EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
- { return toRotationMatrix() * v; }
- };
- namespace internal {
- // implementation of the generic product rotation * matrix
- template<typename RotationDerived, typename MatrixType>
- struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
- {
- enum { Dim = RotationDerived::Dim };
- typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
- EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
- { return r.toRotationMatrix() * m; }
- };
- template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
- struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
- {
- typedef Transform<Scalar,Dim,Affine> ReturnType;
- EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
- {
- ReturnType res(r);
- res.linear() *= m;
- return res;
- }
- };
- template<typename RotationDerived,typename OtherVectorType>
- struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
- {
- enum { Dim = RotationDerived::Dim };
- typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
- EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
- {
- return r._transformVector(v);
- }
- };
- } // end namespace internal
- /** \geometry_module
- *
- * \brief 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>
- EIGEN_DEVICE_FUNC 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
- *
- * \brief 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>
- EIGEN_DEVICE_FUNC 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();
- }
- namespace internal {
- /** \internal
- *
- * Helper function to return an arbitrary rotation object to a rotation matrix.
- *
- * \tparam Scalar the numeric type of the matrix coefficients
- * \tparam 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 toRotationMatrix is only used by Transform.
- *
- * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
- */
- template<typename Scalar, int Dim>
- EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> 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>
- EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
- {
- return r.toRotationMatrix();
- }
- template<typename Scalar, int Dim, typename OtherDerived>
- EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
- {
- EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
- YOU_MADE_A_PROGRAMMING_MISTAKE)
- return mat;
- }
- } // end namespace internal
- } // end namespace Eigen
- #endif // EIGEN_ROTATIONBASE_H
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