1 | // This file is part of Eigen, a lightweight C++ template library |
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2 | // for linear algebra. Eigen itself is part of the KDE project. |
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3 | // |
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4 | // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> |
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5 | // |
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6 | // This Source Code Form is subject to the terms of the Mozilla |
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7 | // Public License v. 2.0. If a copy of the MPL was not distributed |
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8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. |
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9 | |
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10 | // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway |
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11 | |
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12 | namespace Eigen { |
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13 | |
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14 | // this file aims to contains the various representations of rotation/orientation |
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15 | // in 2D and 3D space excepted Matrix and Quaternion. |
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16 | |
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17 | /** \class RotationBase |
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18 | * |
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19 | * \brief Common base class for compact rotation representations |
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20 | * |
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21 | * \param Derived is the derived type, i.e., a rotation type |
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22 | * \param _Dim the dimension of the space |
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23 | */ |
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24 | template<typename Derived, int _Dim> |
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25 | class RotationBase |
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26 | { |
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27 | public: |
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28 | enum { Dim = _Dim }; |
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29 | /** the scalar type of the coefficients */ |
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30 | typedef typename ei_traits<Derived>::Scalar Scalar; |
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31 | |
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32 | /** corresponding linear transformation matrix type */ |
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33 | typedef Matrix<Scalar,Dim,Dim> RotationMatrixType; |
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34 | |
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35 | inline const Derived& derived() const { return *static_cast<const Derived*>(this); } |
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36 | inline Derived& derived() { return *static_cast<Derived*>(this); } |
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37 | |
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38 | /** \returns an equivalent rotation matrix */ |
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39 | inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); } |
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40 | |
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41 | /** \returns the inverse rotation */ |
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42 | inline Derived inverse() const { return derived().inverse(); } |
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43 | |
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44 | /** \returns the concatenation of the rotation \c *this with a translation \a t */ |
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45 | inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const |
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46 | { return toRotationMatrix() * t; } |
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47 | |
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48 | /** \returns the concatenation of the rotation \c *this with a scaling \a s */ |
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49 | inline RotationMatrixType operator*(const Scaling<Scalar,Dim>& s) const |
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50 | { return toRotationMatrix() * s; } |
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51 | |
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52 | /** \returns the concatenation of the rotation \c *this with an affine transformation \a t */ |
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53 | inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const |
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54 | { return toRotationMatrix() * t; } |
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55 | }; |
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56 | |
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57 | /** \geometry_module |
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58 | * |
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59 | * Constructs a Dim x Dim rotation matrix from the rotation \a r |
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60 | */ |
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61 | template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> |
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62 | template<typename OtherDerived> |
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63 | Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> |
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64 | ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r) |
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65 | { |
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66 | EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) |
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67 | *this = r.toRotationMatrix(); |
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68 | } |
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69 | |
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70 | /** \geometry_module |
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71 | * |
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72 | * Set a Dim x Dim rotation matrix from the rotation \a r |
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73 | */ |
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74 | template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> |
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75 | template<typename OtherDerived> |
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76 | Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>& |
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77 | Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> |
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78 | ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r) |
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79 | { |
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80 | EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) |
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81 | return *this = r.toRotationMatrix(); |
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82 | } |
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83 | |
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84 | /** \internal |
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85 | * |
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86 | * Helper function to return an arbitrary rotation object to a rotation matrix. |
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87 | * |
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88 | * \param Scalar the numeric type of the matrix coefficients |
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89 | * \param Dim the dimension of the current space |
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90 | * |
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91 | * It returns a Dim x Dim fixed size matrix. |
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92 | * |
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93 | * Default specializations are provided for: |
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94 | * - any scalar type (2D), |
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95 | * - any matrix expression, |
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96 | * - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D) |
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97 | * |
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98 | * Currently ei_toRotationMatrix is only used by Transform. |
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99 | * |
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100 | * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis |
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101 | */ |
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102 | template<typename Scalar, int Dim> |
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103 | static inline Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s) |
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104 | { |
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105 | EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE) |
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106 | return Rotation2D<Scalar>(s).toRotationMatrix(); |
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107 | } |
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108 | |
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109 | template<typename Scalar, int Dim, typename OtherDerived> |
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110 | static inline Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) |
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111 | { |
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112 | return r.toRotationMatrix(); |
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113 | } |
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114 | |
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115 | template<typename Scalar, int Dim, typename OtherDerived> |
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116 | static inline const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat) |
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117 | { |
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118 | EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim, |
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119 | YOU_MADE_A_PROGRAMMING_MISTAKE) |
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120 | return mat; |
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121 | } |
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122 | |
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123 | } // end namespace Eigen |
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