1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud (at) inria.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 #ifndef EIGEN_ROTATIONBASE_H 11 #define EIGEN_ROTATIONBASE_H 12 13 namespace Eigen { 14 15 // forward declaration 16 namespace internal { 17 template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime> 18 struct rotation_base_generic_product_selector; 19 } 20 21 /** \class RotationBase 22 * 23 * \brief Common base class for compact rotation representations 24 * 25 * \tparam Derived is the derived type, i.e., a rotation type 26 * \tparam _Dim the dimension of the space 27 */ 28 template<typename Derived, int _Dim> 29 class RotationBase 30 { 31 public: 32 enum { Dim = _Dim }; 33 /** the scalar type of the coefficients */ 34 typedef typename internal::traits<Derived>::Scalar Scalar; 35 36 /** corresponding linear transformation matrix type */ 37 typedef Matrix<Scalar,Dim,Dim> RotationMatrixType; 38 typedef Matrix<Scalar,Dim,1> VectorType; 39 40 public: 41 EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); } 42 EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); } 43 44 /** \returns an equivalent rotation matrix */ 45 EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); } 46 47 /** \returns an equivalent rotation matrix 48 * This function is added to be conform with the Transform class' naming scheme. 49 */ 50 EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); } 51 52 /** \returns the inverse rotation */ 53 EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); } 54 55 /** \returns the concatenation of the rotation \c *this with a translation \a t */ 56 EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const 57 { return Transform<Scalar,Dim,Isometry>(*this) * t; } 58 59 /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */ 60 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const 61 { return toRotationMatrix() * s.factor(); } 62 63 /** \returns the concatenation of the rotation \c *this with a generic expression \a e 64 * \a e can be: 65 * - a DimxDim linear transformation matrix 66 * - a DimxDim diagonal matrix (axis aligned scaling) 67 * - a vector of size Dim 68 */ 69 template<typename OtherDerived> 70 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType 71 operator*(const EigenBase<OtherDerived>& e) const 72 { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); } 73 74 /** \returns the concatenation of a linear transformation \a l with the rotation \a r */ 75 template<typename OtherDerived> friend 76 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r) 77 { return l.derived() * r.toRotationMatrix(); } 78 79 /** \returns the concatenation of a scaling \a l with the rotation \a r */ 80 EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r) 81 { 82 Transform<Scalar,Dim,Affine> res(r); 83 res.linear().applyOnTheLeft(l); 84 return res; 85 } 86 87 /** \returns the concatenation of the rotation \c *this with a transformation \a t */ 88 template<int Mode, int Options> 89 EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const 90 { return toRotationMatrix() * t; } 91 92 template<typename OtherVectorType> 93 EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const 94 { return toRotationMatrix() * v; } 95 }; 96 97 namespace internal { 98 99 // implementation of the generic product rotation * matrix 100 template<typename RotationDerived, typename MatrixType> 101 struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false> 102 { 103 enum { Dim = RotationDerived::Dim }; 104 typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType; 105 EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m) 106 { return r.toRotationMatrix() * m; } 107 }; 108 109 template<typename RotationDerived, typename Scalar, int Dim, int MaxDim> 110 struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false > 111 { 112 typedef Transform<Scalar,Dim,Affine> ReturnType; 113 EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m) 114 { 115 ReturnType res(r); 116 res.linear() *= m; 117 return res; 118 } 119 }; 120 121 template<typename RotationDerived,typename OtherVectorType> 122 struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true> 123 { 124 enum { Dim = RotationDerived::Dim }; 125 typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType; 126 EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v) 127 { 128 return r._transformVector(v); 129 } 130 }; 131 132 } // end namespace internal 133 134 /** \geometry_module 135 * 136 * \brief Constructs a Dim x Dim rotation matrix from the rotation \a r 137 */ 138 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 139 template<typename OtherDerived> 140 EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> 141 ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r) 142 { 143 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) 144 *this = r.toRotationMatrix(); 145 } 146 147 /** \geometry_module 148 * 149 * \brief Set a Dim x Dim rotation matrix from the rotation \a r 150 */ 151 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 152 template<typename OtherDerived> 153 EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>& 154 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> 155 ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r) 156 { 157 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) 158 return *this = r.toRotationMatrix(); 159 } 160 161 namespace internal { 162 163 /** \internal 164 * 165 * Helper function to return an arbitrary rotation object to a rotation matrix. 166 * 167 * \tparam Scalar the numeric type of the matrix coefficients 168 * \tparam Dim the dimension of the current space 169 * 170 * It returns a Dim x Dim fixed size matrix. 171 * 172 * Default specializations are provided for: 173 * - any scalar type (2D), 174 * - any matrix expression, 175 * - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D) 176 * 177 * Currently toRotationMatrix is only used by Transform. 178 * 179 * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis 180 */ 181 template<typename Scalar, int Dim> 182 EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s) 183 { 184 EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE) 185 return Rotation2D<Scalar>(s).toRotationMatrix(); 186 } 187 188 template<typename Scalar, int Dim, typename OtherDerived> 189 EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) 190 { 191 return r.toRotationMatrix(); 192 } 193 194 template<typename Scalar, int Dim, typename OtherDerived> 195 EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat) 196 { 197 EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim, 198 YOU_MADE_A_PROGRAMMING_MISTAKE) 199 return mat; 200 } 201 202 } // end namespace internal 203 204 } // end namespace Eigen 205 206 #endif // EIGEN_ROTATIONBASE_H 207
