1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. Eigen itself is part of the KDE project. 3 // 4 // Copyright (C) 2008 Gael Guennebaud <g.gael (at) free.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 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway 11 12 namespace Eigen { 13 14 // this file aims to contains the various representations of rotation/orientation 15 // in 2D and 3D space excepted Matrix and Quaternion. 16 17 /** \class RotationBase 18 * 19 * \brief Common base class for compact rotation representations 20 * 21 * \param Derived is the derived type, i.e., a rotation type 22 * \param _Dim the dimension of the space 23 */ 24 template<typename Derived, int _Dim> 25 class RotationBase 26 { 27 public: 28 enum { Dim = _Dim }; 29 /** the scalar type of the coefficients */ 30 typedef typename ei_traits<Derived>::Scalar Scalar; 31 32 /** corresponding linear transformation matrix type */ 33 typedef Matrix<Scalar,Dim,Dim> RotationMatrixType; 34 35 inline const Derived& derived() const { return *static_cast<const Derived*>(this); } 36 inline Derived& derived() { return *static_cast<Derived*>(this); } 37 38 /** \returns an equivalent rotation matrix */ 39 inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); } 40 41 /** \returns the inverse rotation */ 42 inline Derived inverse() const { return derived().inverse(); } 43 44 /** \returns the concatenation of the rotation \c *this with a translation \a t */ 45 inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const 46 { return toRotationMatrix() * t; } 47 48 /** \returns the concatenation of the rotation \c *this with a scaling \a s */ 49 inline RotationMatrixType operator*(const Scaling<Scalar,Dim>& s) const 50 { return toRotationMatrix() * s; } 51 52 /** \returns the concatenation of the rotation \c *this with an affine transformation \a t */ 53 inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const 54 { return toRotationMatrix() * t; } 55 }; 56 57 /** \geometry_module 58 * 59 * Constructs a Dim x Dim rotation matrix from the rotation \a r 60 */ 61 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 62 template<typename OtherDerived> 63 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> 64 ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r) 65 { 66 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) 67 *this = r.toRotationMatrix(); 68 } 69 70 /** \geometry_module 71 * 72 * Set a Dim x Dim rotation matrix from the rotation \a r 73 */ 74 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 75 template<typename OtherDerived> 76 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>& 77 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> 78 ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r) 79 { 80 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) 81 return *this = r.toRotationMatrix(); 82 } 83 84 /** \internal 85 * 86 * Helper function to return an arbitrary rotation object to a rotation matrix. 87 * 88 * \param Scalar the numeric type of the matrix coefficients 89 * \param Dim the dimension of the current space 90 * 91 * It returns a Dim x Dim fixed size matrix. 92 * 93 * Default specializations are provided for: 94 * - any scalar type (2D), 95 * - any matrix expression, 96 * - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D) 97 * 98 * Currently ei_toRotationMatrix is only used by Transform. 99 * 100 * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis 101 */ 102 template<typename Scalar, int Dim> 103 static inline Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s) 104 { 105 EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE) 106 return Rotation2D<Scalar>(s).toRotationMatrix(); 107 } 108 109 template<typename Scalar, int Dim, typename OtherDerived> 110 static inline Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) 111 { 112 return r.toRotationMatrix(); 113 } 114 115 template<typename Scalar, int Dim, typename OtherDerived> 116 static inline const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat) 117 { 118 EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim, 119 YOU_MADE_A_PROGRAMMING_MISTAKE) 120 return mat; 121 } 122 123 } // end namespace Eigen 124
