Eigne Matrix Class Library
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RotationBase.h
00001 // This file is part of Eigen, a lightweight C++ template library 00002 // for linear algebra. 00003 // 00004 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> 00005 // 00006 // This Source Code Form is subject to the terms of the Mozilla 00007 // Public License v. 2.0. If a copy of the MPL was not distributed 00008 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 00009 00010 #ifndef EIGEN_ROTATIONBASE_H 00011 #define EIGEN_ROTATIONBASE_H 00012 00013 namespace Eigen { 00014 00015 // forward declaration 00016 namespace internal { 00017 template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime> 00018 struct rotation_base_generic_product_selector; 00019 } 00020 00021 /** \class RotationBase 00022 * 00023 * \brief Common base class for compact rotation representations 00024 * 00025 * \param Derived is the derived type, i.e., a rotation type 00026 * \param _Dim the dimension of the space 00027 */ 00028 template<typename Derived, int _Dim> 00029 class RotationBase 00030 { 00031 public: 00032 enum { Dim = _Dim }; 00033 /** the scalar type of the coefficients */ 00034 typedef typename internal::traits<Derived>::Scalar Scalar; 00035 00036 /** corresponding linear transformation matrix type */ 00037 typedef Matrix<Scalar,Dim,Dim> RotationMatrixType; 00038 typedef Matrix<Scalar,Dim,1> VectorType ; 00039 00040 public: 00041 inline const Derived& derived() const { return *static_cast<const Derived*>(this); } 00042 inline Derived& derived() { return *static_cast<Derived*>(this); } 00043 00044 /** \returns an equivalent rotation matrix */ 00045 inline RotationMatrixType toRotationMatrix () const { return derived().toRotationMatrix(); } 00046 00047 /** \returns an equivalent rotation matrix 00048 * This function is added to be conform with the Transform class' naming scheme. 00049 */ 00050 inline RotationMatrixType matrix () const { return derived().toRotationMatrix(); } 00051 00052 /** \returns the inverse rotation */ 00053 inline Derived inverse () const { return derived().inverse(); } 00054 00055 /** \returns the concatenation of the rotation \c *this with a translation \a t */ 00056 inline Transform<Scalar,Dim,Isometry> operator* (const Translation<Scalar,Dim> & t) const 00057 { return Transform<Scalar,Dim,Isometry> (*this) * t; } 00058 00059 /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */ 00060 inline RotationMatrixType operator* (const UniformScaling<Scalar>& s) const 00061 { return toRotationMatrix () * s.factor(); } 00062 00063 /** \returns the concatenation of the rotation \c *this with a generic expression \a e 00064 * \a e can be: 00065 * - a DimxDim linear transformation matrix 00066 * - a DimxDim diagonal matrix (axis aligned scaling) 00067 * - a vector of size Dim 00068 */ 00069 template<typename OtherDerived> 00070 EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType 00071 operator* (const EigenBase<OtherDerived>& e) const 00072 { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived ()); } 00073 00074 /** \returns the concatenation of a linear transformation \a l with the rotation \a r */ 00075 template<typename OtherDerived> friend 00076 inline RotationMatrixType operator* (const EigenBase<OtherDerived>& l, const Derived& r) 00077 { return l.derived () * r.toRotationMatrix(); } 00078 00079 /** \returns the concatenation of a scaling \a l with the rotation \a r */ 00080 friend inline Transform<Scalar,Dim,Affine> operator* (const DiagonalMatrix<Scalar,Dim>& l, const Derived& r) 00081 { 00082 Transform<Scalar,Dim,Affine> res(r); 00083 res.linear ().applyOnTheLeft(l); 00084 return res; 00085 } 00086 00087 /** \returns the concatenation of the rotation \c *this with a transformation \a t */ 00088 template<int Mode, int Options> 00089 inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options> & t) const 00090 { return toRotationMatrix () * t; } 00091 00092 template<typename OtherVectorType> 00093 inline VectorType _transformVector(const OtherVectorType& v) const 00094 { return toRotationMatrix () * v; } 00095 }; 00096 00097 namespace internal { 00098 00099 // implementation of the generic product rotation * matrix 00100 template<typename RotationDerived, typename MatrixType> 00101 struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false> 00102 { 00103 enum { Dim = RotationDerived::Dim }; 00104 typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType; 00105 static inline ReturnType run(const RotationDerived& r, const MatrixType& m) 00106 { return r.toRotationMatrix() * m; } 00107 }; 00108 00109 template<typename RotationDerived, typename Scalar, int Dim, int MaxDim> 00110 struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false > 00111 { 00112 typedef Transform<Scalar,Dim,Affine> ReturnType; 00113 static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m) 00114 { 00115 ReturnType res(r); 00116 res.linear() *= m; 00117 return res; 00118 } 00119 }; 00120 00121 template<typename RotationDerived,typename OtherVectorType> 00122 struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true> 00123 { 00124 enum { Dim = RotationDerived::Dim }; 00125 typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType; 00126 static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v) 00127 { 00128 return r._transformVector(v); 00129 } 00130 }; 00131 00132 } // end namespace internal 00133 00134 /** \geometry_module 00135 * 00136 * \brief Constructs a Dim x Dim rotation matrix from the rotation \a r 00137 */ 00138 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 00139 template<typename OtherDerived> 00140 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> 00141 ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r) 00142 { 00143 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) 00144 *this = r.toRotationMatrix (); 00145 } 00146 00147 /** \geometry_module 00148 * 00149 * \brief Set a Dim x Dim rotation matrix from the rotation \a r 00150 */ 00151 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 00152 template<typename OtherDerived> 00153 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>& 00154 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> 00155 ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r) 00156 { 00157 EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)) 00158 return *this = r.toRotationMatrix (); 00159 } 00160 00161 namespace internal { 00162 00163 /** \internal 00164 * 00165 * Helper function to return an arbitrary rotation object to a rotation matrix. 00166 * 00167 * \param Scalar the numeric type of the matrix coefficients 00168 * \param Dim the dimension of the current space 00169 * 00170 * It returns a Dim x Dim fixed size matrix. 00171 * 00172 * Default specializations are provided for: 00173 * - any scalar type (2D), 00174 * - any matrix expression, 00175 * - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D) 00176 * 00177 * Currently toRotationMatrix is only used by Transform. 00178 * 00179 * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis 00180 */ 00181 template<typename Scalar, int Dim> 00182 static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s) 00183 { 00184 EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE) 00185 return Rotation2D <Scalar>(s).toRotationMatrix(); 00186 } 00187 00188 template<typename Scalar, int Dim, typename OtherDerived> 00189 static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) 00190 { 00191 return r.toRotationMatrix(); 00192 } 00193 00194 template<typename Scalar, int Dim, typename OtherDerived> 00195 static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat) 00196 { 00197 EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim, 00198 YOU_MADE_A_PROGRAMMING_MISTAKE) 00199 return mat; 00200 } 00201 00202 } // end namespace internal 00203 00204 } // end namespace Eigen 00205 00206 #endif // EIGEN_ROTATIONBASE_H
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