diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h')
-rw-r--r-- | extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h | 134 |
1 files changed, 134 insertions, 0 deletions
diff --git a/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h new file mode 100644 index 00000000000..2f494f198bd --- /dev/null +++ b/extern/Eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h @@ -0,0 +1,134 @@ +// 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/>. + +// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway + +// 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; +} |