1 | // This file is part of Eigen, a lightweight C++ template library
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2 | // for linear algebra.
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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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