Eigen::RotationBase< Derived, _Dim > Class Template Reference

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

#include <RotationBase.h>

Inheritance diagram for Eigen::RotationBase< Derived, _Dim >:

List of all members.

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

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Detailed Description

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

Common base class for compact rotation representations.

Template Parameters:

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

Definition at line 29 of file RotationBase.h.

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Member Typedef Documentation

template<typename Derived, int _Dim>

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

corresponding linear transformation matrix type

Definition at line 37 of file RotationBase.h.

template<typename Derived, int _Dim>

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

the scalar type of the coefficients

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

Definition at line 34 of file RotationBase.h.

template<typename Derived, int _Dim>

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

Definition at line 38 of file RotationBase.h.

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Member Enumeration Documentation

template<typename Derived, int _Dim>

anonymous enum

Enumerator:

Dim

Definition at line 32 of file RotationBase.h.

{ Dim = _Dim };

---

Member Function Documentation

template<typename Derived, int _Dim>

template<typename OtherVectorType >

VectorType Eigen::RotationBase< Derived, _Dim >::_transformVector

(

const OtherVectorType &

v

)

const [inline]

Definition at line 93 of file RotationBase.h.

    { return toRotationMatrix() * v; }

template<typename Derived, int _Dim>

const Derived& Eigen::RotationBase< Derived, _Dim >::derived

(

)

const [inline]

Definition at line 41 of file RotationBase.h.

{ return *static_cast<const Derived*>(this); }

template<typename Derived, int _Dim>

Derived& Eigen::RotationBase< Derived, _Dim >::derived

(

)

[inline]

Definition at line 42 of file RotationBase.h.

{ return *static_cast<Derived*>(this); }

template<typename Derived, int _Dim>

Derived Eigen::RotationBase< Derived, _Dim >::inverse

(

)

const [inline]

Returns:

the inverse rotation

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

Definition at line 53 of file RotationBase.h.

{ return derived().inverse(); }

template<typename Derived, int _Dim>

RotationMatrixType Eigen::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 50 of file RotationBase.h.

{ return derived().toRotationMatrix(); }

template<typename Derived, int _Dim>

Transform<Scalar,Dim,Isometry> Eigen::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 56 of file RotationBase.h.

    { return Transform<Scalar,Dim,Isometry>(*this) * t; }

template<typename Derived, int _Dim>

RotationMatrixType Eigen::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 60 of file RotationBase.h.

    { return toRotationMatrix() * s.factor(); }

template<typename Derived, int _Dim>

template<typename OtherDerived >

EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::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 71 of file RotationBase.h.

    { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }

template<typename Derived, int _Dim>

template<int Mode, int Options>

Transform<Scalar,Dim,Mode> Eigen::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 89 of file RotationBase.h.

    { return toRotationMatrix() * t; }

template<typename Derived, int _Dim>

RotationMatrixType Eigen::RotationBase< Derived, _Dim >::toRotationMatrix

(

void

)

const [inline]

Returns:

an equivalent rotation matrix

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

Definition at line 45 of file RotationBase.h.

{ return derived().toRotationMatrix(); }

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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 76 of file RotationBase.h.

    { return l.derived() * r.toRotationMatrix(); }

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 80 of file RotationBase.h.

    { 
      Transform<Scalar,Dim,Affine> res(r);
      res.linear().applyOnTheLeft(l);
      return res;
    }

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

• RotationBase.h