rotation_matrix.h
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00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds
00002 // Copyright (C) 2010 G. Grisetti, R. K├╝mmerle, C. Stachniss
00003 // 
00004 // HOG-Man is free software: you can redistribute it and/or modify
00005 // it under the terms of the GNU Lesser General Public License as published
00006 // by the Free Software Foundation, either version 3 of the License, or
00007 // (at your option) any later version.
00008 // 
00009 // HOG-Man is distributed in the hope that it will be useful,
00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 // GNU Lesser General Public License for more details.
00013 // 
00014 // You should have received a copy of the GNU Lesser General Public License
00015 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016 
00017 #ifndef _ROTATIONMATRIX_H_
00018 #define _ROTATIONMATRIX_H_
00019 
00020 #include "matrix_n.h"
00021 
00031 template <int N, typename Base=double> 
00032   struct _RotationMatrix: public _Matrix<N, N, Base> {
00033   static const int Dimension=N;
00035   _RotationMatrix();
00037   _RotationMatrix<N,Base>& operator*=(const _RotationMatrix<N,Base>& m);
00039   _RotationMatrix<N,Base> operator*(const _RotationMatrix<N,Base>& m) const;
00041   _Vector<N,Base> operator*(const _Vector<N,Base>& v) const;
00043   _RotationMatrix<N,Base> inverse() const;
00044  protected:
00045   _RotationMatrix(const _Matrix<N,N,Base> &m);
00046 };
00047 
00049 template < typename Base=double >
00050 struct _RotationMatrix2: public _RotationMatrix<2, Base>{
00051   static const int Angles=1;
00052   _RotationMatrix2();
00054   _RotationMatrix2(Base angle);
00056   _RotationMatrix2(const _Vector<1,Base>& angles);
00057   _RotationMatrix2(const _RotationMatrix<2,Base>& rm) {this->_allocator=rm._allocator;}
00060   _RotationMatrix2<Base> rotationMatrix() const {return *this;}
00062   _Vector<1, Base> angles() const {_Vector<1, Base> v; v[0]=angle(); return v;}
00063   Base angle() const;
00064 };
00065 
00067 template <typename Base = double >
00068   struct _RotationMatrix3: public _RotationMatrix<3, Base>{
00069   static const int Angles=3;
00070   _RotationMatrix3();
00072   _RotationMatrix3(const _Vector<3, Base>& angles);
00073   _RotationMatrix3(const _RotationMatrix<3,Base>& rm) {this->_allocator=rm._allocator;}
00075   _RotationMatrix3(Base roll, Base pitch, Base yaw);
00078   _RotationMatrix3<Base> rotationMatrix() const {return *this;}
00080   _Vector<3, Base> angles() const;
00081 };
00083 
00084 typedef _RotationMatrix2<double> RotationMatrix2;
00085 typedef _RotationMatrix3<double> RotationMatrix3;
00086 typedef _RotationMatrix2<float> RotationMatrix2f;
00087 typedef _RotationMatrix3<float> RotationMatrix3f;
00088 
00089 #include "rotation_matrix.hpp"
00090 
00091 
00092 #endif


hogman_minimal
Author(s): Maintained by Juergen Sturm
autogenerated on Mon Oct 6 2014 00:06:59