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

#include <RotationBase.h>

Inheritance diagram for RotationBase< Derived, _Dim >:

Public Types
enum	{ Dim = _Dim }
enum	{ Dim = _Dim }
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef ei_traits< Derived > ::Scalar	Scalar
typedef internal::traits < Derived >::Scalar	Scalar
typedef Matrix< Scalar, Dim, 1 >	VectorType
Public Member Functions
template<typename OtherVectorType >
VectorType	_transformVector (const OtherVectorType &v) const
const Derived &	derived () const
Derived &	derived ()
const Derived &	derived () const
Derived &	derived ()
Derived	inverse () const
Derived	inverse () const
RotationMatrixType	matrix () const
Transform< Scalar, Dim >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const Scaling< Scalar, Dim > &s) const
Transform< Scalar, Dim >	operator* (const Transform< Scalar, Dim > &t) 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
RotationMatrixType	toRotationMatrix () const
RotationMatrixType	toRotationMatrix () 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 RotationBase< Derived, _Dim >

Common base class for compact rotation representations.

Parameters:

Derived	is the derived type, i.e., a rotation type
_Dim	the dimension of the space

Definition at line 38 of file Eigen2Support/Geometry/RotationBase.h.

Member Typedef Documentation

template<typename Derived, int _Dim>

typedef Matrix<Scalar,Dim,Dim> RotationBase< Derived, _Dim >::RotationMatrixType

corresponding linear transformation matrix type

Definition at line 46 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

typedef Matrix<Scalar,Dim,Dim> RotationBase< Derived, _Dim >::RotationMatrixType

corresponding linear transformation matrix type

Definition at line 50 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

typedef ei_traits<Derived>::Scalar RotationBase< Derived, _Dim >::Scalar

the scalar type of the coefficients

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

Definition at line 43 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

typedef internal::traits<Derived>::Scalar RotationBase< Derived, _Dim >::Scalar

the scalar type of the coefficients

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

Definition at line 47 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

typedef Matrix<Scalar,Dim,1> RotationBase< Derived, _Dim >::VectorType

Definition at line 51 of file Geometry/RotationBase.h.

Member Enumeration Documentation

template<typename Derived, int _Dim>

anonymous enum

Enumerator:

Dim

Definition at line 41 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

anonymous enum

Enumerator:

Dim

Definition at line 45 of file Geometry/RotationBase.h.

Member Function Documentation

template<typename Derived, int _Dim>

template<typename OtherVectorType >

VectorType RotationBase< Derived, _Dim >::_transformVector ( const OtherVectorType & v ) const [inline]

Definition at line 106 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

const Derived& RotationBase< Derived, _Dim >::derived ( ) const [inline]

Definition at line 48 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

Derived& RotationBase< Derived, _Dim >::derived ( ) [inline]

Definition at line 49 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

const Derived& RotationBase< Derived, _Dim >::derived ( ) const [inline]

Definition at line 54 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

Derived& RotationBase< Derived, _Dim >::derived ( ) [inline]

Definition at line 55 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

Derived RotationBase< Derived, _Dim >::inverse ( void ) const [inline]

Returns:: the inverse rotation

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

Definition at line 55 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

Derived RotationBase< Derived, _Dim >::inverse ( void ) const [inline]

Returns:: the inverse rotation

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

Definition at line 66 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

RotationMatrixType RotationBase< Derived, _Dim >::matrix ( ) const [inline]

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

Definition at line 63 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

Transform<Scalar,Dim> RotationBase< Derived, _Dim >::operator* ( const Translation< Scalar, Dim > & t ) const [inline]

Returns:: the concatenation of the rotation *this with a translation t

Definition at line 58 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

RotationMatrixType RotationBase< Derived, _Dim >::operator* ( const Scaling< Scalar, Dim > & s ) const [inline]

Returns:: the concatenation of the rotation *this with a scaling s

Definition at line 62 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

Transform<Scalar,Dim> RotationBase< Derived, _Dim >::operator* ( const Transform< Scalar, Dim > & t ) const [inline]

Returns:: the concatenation of the rotation *this with an affine transformation t

Definition at line 66 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

Transform<Scalar,Dim,Isometry> RotationBase< Derived, _Dim >::operator* ( const Translation< Scalar, Dim > & t ) const [inline]

Returns:: the concatenation of the rotation *this with a translation t

Definition at line 69 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

RotationMatrixType RotationBase< Derived, _Dim >::operator* ( const UniformScaling< Scalar > & s ) const [inline]

Returns:: the concatenation of the rotation *this with a uniform scaling s

Definition at line 73 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

template<typename OtherDerived >

EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType RotationBase< Derived, _Dim >::operator* ( const EigenBase< OtherDerived > & e ) const [inline]

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 84 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

template<int Mode, int Options>

Transform<Scalar,Dim,Mode> RotationBase< Derived, _Dim >::operator* ( const Transform< Scalar, Dim, Mode, Options > & t ) const [inline]

Returns:: the concatenation of the rotation *this with a transformation t

Definition at line 102 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

RotationMatrixType RotationBase< Derived, _Dim >::toRotationMatrix ( void ) const [inline]

Returns:: an equivalent rotation matrix

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

Definition at line 52 of file Eigen2Support/Geometry/RotationBase.h.

template<typename Derived, int _Dim>

RotationMatrixType RotationBase< Derived, _Dim >::toRotationMatrix ( void ) const [inline]

Returns:: an equivalent rotation matrix

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

Definition at line 58 of file Geometry/RotationBase.h.

Friends And Related Function Documentation

template<typename Derived, int _Dim>

template<typename OtherDerived >

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 89 of file Geometry/RotationBase.h.

template<typename Derived, int _Dim>

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 93 of file Geometry/RotationBase.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Friends

Detailed Description

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

Member Typedef Documentation

Member Enumeration Documentation

Member Function Documentation

Friends And Related Function Documentation

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