Template Function lvr2::operator*(const Eigen::Matrix<Scalar, 4, 4>&, const Normal<CoordType>&)

• Defined in File Normal.hpp

Function Documentation

template<typename CoordType, typename Scalar = CoordType>
inline Normal<CoordType> lvr2::operator*(const Eigen::Matrix<Scalar, 4, 4> &mat, const Normal<CoordType> &normal)

Multiplication operator to support transformation with Eigen matrices. Rotates the normal, ignores translation. Implementation for RowMajor matrices.

Template Parameters:

• CoordType – Coordinate type of the normals

• Scalar – Scalar type of the Eigen matrix

Parameters:

• mat – Eigen matrix

• normal – Input normal

Returns:

Normal<CoordType> Transformed normal