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Eigne Matrix Class Library

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RotationBase< Derived, _Dim > Class Template Reference
Public Types | Public Member Functions | Friends

RotationBase< Derived, _Dim > Class Template Reference

Common base class for compact rotation representations. More...

#include <RotationBase.h>

Public Types

typedef internal::traits
< Derived >::Scalar 		Scalar
 the scalar type of the coefficients
typedef Matrix< Scalar, Dim, Dim > RotationMatrixType
 corresponding linear transformation matrix type

Public Member Functions

RotationMatrixType toRotationMatrix () const
RotationMatrixType matrix () const
Derived inverse () const
Transform< Scalar, Dim, Isometry > operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType operator* (const UniformScaling< Scalar > &s) const
template<typename OtherDerived >
EIGEN_STRONG_INLINE
internal::rotation_base_generic_product_selector
< Derived, OtherDerived,
OtherDerived::IsVectorAtCompileTime >
::ReturnType 		operator* (const EigenBase< OtherDerived > &e) const
template<int Mode, int Options>
Transform< Scalar, Dim, Mode > operator* (const Transform< Scalar, Dim, Mode, Options > &t) const

Friends

template<typename OtherDerived >
RotationMatrixType operator* (const EigenBase< OtherDerived > &l, const Derived &r)
Transform< Scalar, Dim, Affine > operator* (const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)

Detailed Description

template<typename Derived, int _Dim>
class Eigen::RotationBase< Derived, _Dim >

Common base class for compact rotation representations.

Parameters:
Derivedis the derived type, i.e., a rotation type
_Dimthe dimension of the space

Definition at line 29 of file RotationBase.h.

Member Typedef Documentation

typedef Matrix<Scalar,Dim,Dim> RotationMatrixType

corresponding linear transformation matrix type

Definition at line 37 of file RotationBase.h.

typedef internal::traits<Derived>::Scalar Scalar

the scalar type of the coefficients

Reimplemented in AngleAxis< _Scalar >, QuaternionBase< Derived >, Quaternion< _Scalar, _Options >, Map< const Quaternion< _Scalar >, _Options >, Map< Quaternion< _Scalar >, _Options >, Rotation2D< _Scalar >, QuaternionBase< Map< const Quaternion< _Scalar >, _Options > >, QuaternionBase< Map< Quaternion< _Scalar >, _Options > >, and QuaternionBase< Quaternion< _Scalar, _Options > >.

Definition at line 34 of file RotationBase.h.

Member Function Documentation

Derived inverse (  ) const
Returns:
the inverse rotation

Reimplemented in AngleAxis< _Scalar >, QuaternionBase< Derived >, Rotation2D< _Scalar >, QuaternionBase< Map< const Quaternion< _Scalar >, _Options > >, QuaternionBase< Map< Quaternion< _Scalar >, _Options > >, and QuaternionBase< Quaternion< _Scalar, _Options > >.

Definition at line 53 of file RotationBase.h.

RotationMatrixType matrix (  ) const
Returns:
an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

Definition at line 50 of file RotationBase.h.

RotationMatrixType operator* ( const UniformScaling< Scalar > &  s ) const
Returns:
the concatenation of the rotation *this with a uniform scaling s

Definition at line 60 of file RotationBase.h.

Transform<Scalar,Dim,Mode> operator* ( const Transform< Scalar, Dim, Mode, Options > &  t ) const
Returns:
the concatenation of the rotation *this with a transformation t

Definition at line 89 of file RotationBase.h.

EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType operator* ( const EigenBase< OtherDerived > &  e ) const
Returns:
the concatenation of the rotation *this with a generic expression e e can be:
  • a DimxDim linear transformation matrix
  • a DimxDim diagonal matrix (axis aligned scaling)
  • a vector of size Dim

Definition at line 71 of file RotationBase.h.

Transform<Scalar,Dim,Isometry> operator* ( const Translation< Scalar, Dim > &  t ) const
Returns:
the concatenation of the rotation *this with a translation t

Definition at line 56 of file RotationBase.h.

RotationMatrixType toRotationMatrix ( void   ) const
Returns:
an equivalent rotation matrix

Reimplemented in AngleAxis< _Scalar >, QuaternionBase< Derived >, Rotation2D< _Scalar >, QuaternionBase< Map< const Quaternion< _Scalar >, _Options > >, QuaternionBase< Map< Quaternion< _Scalar >, _Options > >, and QuaternionBase< Quaternion< _Scalar, _Options > >.

Definition at line 45 of file RotationBase.h.

Friends And Related Function Documentation

RotationMatrixType operator* ( const EigenBase< OtherDerived > &  l,
const Derived &  r 
) [friend]
Returns:
the concatenation of a linear transformation l with the rotation r

Definition at line 76 of file RotationBase.h.

Transform<Scalar,Dim,Affine> operator* ( const DiagonalMatrix< Scalar, Dim > &  l,
const Derived &  r 
) [friend]
Returns:
the concatenation of a scaling l with the rotation r

Definition at line 80 of file RotationBase.h.

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