matrix-geometry.hh File Reference

#include <dynamic-graph/eigen-io.h>
#include <dynamic-graph/linear-algebra.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <sot/core/api.hh>

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Namespaces
	dynamicgraph
	dynamicgraph::sot

Macros
#define	EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size)
#define	EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)
#define	EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix)
#define	MRAWDATA(x)   x.data()

Typedefs
typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	dynamicgraph::sot::MatrixForce
typedef Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT	dynamicgraph::sot::MatrixHomogeneous
typedef Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT	dynamicgraph::sot::MatrixRotation
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	dynamicgraph::sot::MatrixRXd
typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	dynamicgraph::sot::MatrixTwist
typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	dynamicgraph::sot::Quaternion
typedef Eigen::Map< Quaternion > SOT_CORE_EXPORT	dynamicgraph::sot::QuaternionMap
typedef Eigen::Ref< Eigen::MatrixXd >	dynamicgraph::sot::RefMatrix
typedef Eigen::Ref< Eigen::VectorXd >	dynamicgraph::sot::RefVector
typedef Eigen::Map< MatrixRXd >	dynamicgraph::sot::SigMatrixXd
typedef Eigen::Map< Eigen::VectorXd >	dynamicgraph::sot::SigVectorXd
typedef Eigen::Matrix< double, 7, 1 > SOT_CORE_EXPORT	dynamicgraph::sot::Vector7
typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	dynamicgraph::sot::VectorQuaternion
typedef Eigen::Vector3d SOT_CORE_EXPORT	dynamicgraph::sot::VectorRollPitchYaw
typedef Eigen::Vector3d SOT_CORE_EXPORT	dynamicgraph::sot::VectorRotation
typedef Eigen::AngleAxis< double > SOT_CORE_EXPORT	dynamicgraph::sot::VectorUTheta

Functions
void	dynamicgraph::sot::buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)

Variables
const typedef Eigen::Map< const MatrixRXd >	dynamicgraph::sot::const_SigMatrixXd
const typedef Eigen::Map< const Eigen::VectorXd >	dynamicgraph::sot::const_SigVectorXd
const typedef Eigen::Ref< const Eigen::MatrixXd >	dynamicgraph::sot::ConstRefMatrix
const typedef Eigen::Ref< const Eigen::VectorXd > &	dynamicgraph::sot::ConstRefVector

Macro Definition Documentation

EIGEN_MAKE_FIXED_TYPEDEFS

#define EIGEN_MAKE_FIXED_TYPEDEFS	(		Type,
			TypeSuffix,
			Size
	)

Value:

                          \
  typedef Eigen::Matrix<Type, Size, Eigen::Dynamic>       \
      Matrix##Size##X##TypeSuffix;                        \                          \
  typedef Eigen::Matrix<Type, Eigen::Dynamic, Size> Matrix##X##Size##TypeSuffix;

Definition at line 36 of file matrix-geometry.hh.

EIGEN_MAKE_TYPEDEFS

#define EIGEN_MAKE_TYPEDEFS	(		Type,
			TypeSuffix,
			Size,
			SizeSuffix
	)

Value:

                                          \
  typedef Eigen::Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \                                          \
  typedef Eigen::Matrix<Type, Size, 1> Vector##SizeSuffix##TypeSuffix;    \                                          \
  typedef Eigen::Matrix<Type, 1, Size> RowVector##SizeSuffix##TypeSuffix;

Definition at line 28 of file matrix-geometry.hh.

EIGEN_MAKE_TYPEDEFS_ALL_SIZES

#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES	(		Type,
			TypeSuffix
	)

Value:

  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1)           \
  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 5, 5)           \
  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 6, 6)           \
  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 7, 7)           \
  EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 1)        \
  EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 5)        \
  EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 6)        \
  EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 7)

Definition at line 43 of file matrix-geometry.hh.

MRAWDATA

#define MRAWDATA

(

x

)

x.data()

Definition at line 19 of file matrix-geometry.hh.