Go to the documentation of this file.
10 #ifndef EIGEN_EULERSYSTEM_H
11 #define EIGEN_EULERSYSTEM_H
16 template <
typename _Scalar,
class _System>
22 template <
int Num,
bool IsPositive = (Num > 0)>
29 struct Abs<Num, false>
40 template<
typename System,
42 int OtherRows=Other::RowsAtCompileTime,
43 int OtherCols=Other::ColsAtCompileTime>
47 #define EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(COND,MSG) typedef char static_assertion_##MSG[(COND)?1:-1]
125 template <
int _AlphaAxis,
int _BetaAxis,
int _GammaAxis>
162 ALPHA_AXIS_IS_INVALID);
165 BETA_AXIS_IS_INVALID);
168 GAMMA_AXIS_IS_INVALID);
171 ALPHA_AXIS_CANT_BE_EQUAL_TO_BETA_AXIS);
174 BETA_AXIS_CANT_BE_EQUAL_TO_GAMMA_AXIS);
186 template <
typename Derived>
205 else if(plusMinus *
mat(
I_,
K_) > 0) {
209 res[0] = alphaPlusMinusGamma;
216 res[0] = alphaMinusPlusBeta;
221 template <
typename Derived>
256 template<
typename Scalar>
266 res.alpha() = -
res.alpha();
272 res.gamma() = -
res.gamma();
275 template <
typename _Scalar,
class _System>
285 #define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \
287 typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C;
305 #endif // EIGEN_EULERSYSTEM_H
Represents a rotation in a 3 dimensional space as three Euler angles.
Namespace containing all symbols from the Eigen library.
const AutoDiffScalar< Matrix< typename internal::traits< typename internal::remove_all< DerTypeA >::type >::Scalar, Dynamic, 1 > > atan2(const AutoDiffScalar< DerTypeA > &a, const AutoDiffScalar< DerTypeB > &b)
static const int BetaAxis
static const int AlphaAxis
GaussianFactorGraphValuePair Y
static const int GammaAxis
#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C)
cout<< "Here is the matrix m:"<< endl<< m<< endl;Matrix< ptrdiff_t, 3, 1 > res
static void CalcEulerAngles_imp(Matrix< typename MatrixBase< Derived >::Scalar, 3, 1 > &res, const MatrixBase< Derived > &mat, internal::true_type)
Represents a fixed Euler rotation system.
static void CalcEulerAngles(EulerAngles< Scalar, EulerSystem > &res, const typename EulerAngles< Scalar, EulerSystem >::Matrix3 &mat)
AnnoyingScalar atan2(const AnnoyingScalar &y, const AnnoyingScalar &x)
static void CalcEulerAngles_imp(Matrix< typename MatrixBase< Derived >::Scalar, 3, 1 > &res, const MatrixBase< Derived > &mat, internal::false_type)
internal::traits< Derived >::Scalar Scalar
The matrix class, also used for vectors and row-vectors.
Base class for all dense matrices, vectors, and expressions.
EulerAxis
Representation of a fixed signed rotation axis for EulerSystem.
EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis< AlphaAxis >::value, ALPHA_AXIS_IS_INVALID)
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Jet< T, N > sqrt(const Jet< T, N > &f)
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:16