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Eigen
3.3.3
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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 00028 template<typename Derived, int _Dim> 00029 class RotationBase 00030 { 00031 public: 00032 enum { Dim = _Dim }; 00034 typedef typename internal::traits<Derived>::Scalar Scalar; 00035 00037 typedef Matrix<Scalar,Dim,Dim> RotationMatrixType; 00038 typedef Matrix<Scalar,Dim,1> VectorType; 00039 00040 public: 00041 EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); } 00042 EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); } 00043 00045 EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); } 00046 00050 EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); } 00051 00053 EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); } 00054 00056 EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const 00057 { return Transform<Scalar,Dim,Isometry>(*this) * t; } 00058 00060 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const 00061 { return toRotationMatrix() * s.factor(); } 00062 00069 template<typename OtherDerived> 00070 EIGEN_DEVICE_FUNC 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 00075 template<typename OtherDerived> friend 00076 EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r) 00077 { return l.derived() * r.toRotationMatrix(); } 00078 00080 EIGEN_DEVICE_FUNC 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 00088 template<int Mode, int Options> 00089 EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const 00090 { return toRotationMatrix() * t; } 00091 00092 template<typename OtherVectorType> 00093 EIGEN_DEVICE_FUNC 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 EIGEN_DEVICE_FUNC 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 EIGEN_DEVICE_FUNC 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 EIGEN_DEVICE_FUNC 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 00138 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 00139 template<typename OtherDerived> 00140 EIGEN_DEVICE_FUNC 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 00151 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols> 00152 template<typename OtherDerived> 00153 EIGEN_DEVICE_FUNC 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 00181 template<typename Scalar, int Dim> 00182 EIGEN_DEVICE_FUNC 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 EIGEN_DEVICE_FUNC 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 EIGEN_DEVICE_FUNC 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