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Diffstat (limited to 'extern/Eigen2/Eigen/src/Geometry/RotationBase.h')
| -rw-r--r-- | extern/Eigen2/Eigen/src/Geometry/RotationBase.h | 137 |
1 files changed, 0 insertions, 137 deletions
diff --git a/extern/Eigen2/Eigen/src/Geometry/RotationBase.h b/extern/Eigen2/Eigen/src/Geometry/RotationBase.h deleted file mode 100644 index 5fec0f18d72..00000000000 --- a/extern/Eigen2/Eigen/src/Geometry/RotationBase.h +++ /dev/null @@ -1,137 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. Eigen itself is part of the KDE project. -// -// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see <http://www.gnu.org/licenses/>. - -#ifndef EIGEN_ROTATIONBASE_H -#define EIGEN_ROTATIONBASE_H - -// 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> -inline static 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> -inline static Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) -{ - return r.toRotationMatrix(); -} - -template<typename Scalar, int Dim, typename OtherDerived> -inline static 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; -} - -#endif // EIGEN_ROTATIONBASE_H |