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RotationBase< Derived, _Dim > Class Template Reference


Detailed Description

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

Common base class for compact rotation representations.

Parameters:
Derivedis the derived type, i.e., a rotation type
_Dimthe dimension of the space

Definition at line 42 of file RotationBase.h.

#include <src/Geometry/RotationBase.h>

Inheritance diagram for RotationBase< Derived, _Dim >:
Inheritance graph
[legend]

List of all members.

Public Types

enum  { Dim = _Dim }
typedef internal::traits
< Derived >::Scalar 
Scalar
 the scalar type of the coefficients
typedef Matrix< Scalar, Dim, Dim > RotationMatrixType
 corresponding linear transformation matrix type
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>
Transform< Scalar, Dim, Mode > operator* (const Transform< Scalar, Dim, Mode > &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)

Member Typedef Documentation

template<typename Derived, int _Dim>
typedef Matrix<Scalar,Dim,Dim> RotationBase< Derived, _Dim >::RotationMatrixType

corresponding linear transformation matrix type

Definition at line 50 of file RotationBase.h.

template<typename Derived, int _Dim>
typedef internal::traits<Derived>::Scalar RotationBase< Derived, _Dim >::Scalar
template<typename Derived, int _Dim>
typedef Matrix<Scalar,Dim,1> RotationBase< Derived, _Dim >::VectorType

Definition at line 51 of file RotationBase.h.


Member Enumeration Documentation

template<typename Derived, int _Dim>
anonymous enum
Enumerator:
Dim 

Definition at line 45 of file RotationBase.h.


Member Function Documentation

template<typename Derived, int _Dim>
template<typename OtherVectorType >
VectorType RotationBase< Derived, _Dim >::_transformVector ( const OtherVectorType &  v) const [inline]

Definition at line 106 of file RotationBase.h.

template<typename Derived, int _Dim>
const Derived& RotationBase< Derived, _Dim >::derived ( ) const [inline]
template<typename Derived, int _Dim>
Derived& RotationBase< Derived, _Dim >::derived ( ) [inline]

Definition at line 55 of file RotationBase.h.

template<typename Derived, int _Dim>
Derived RotationBase< Derived, _Dim >::inverse ( ) const [inline]
template<typename Derived, int _Dim>
RotationMatrixType 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 63 of file RotationBase.h.

template<typename Derived, int _Dim>
RotationMatrixType 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 73 of file RotationBase.h.

template<typename Derived, int _Dim>
template<int Mode>
Transform<Scalar,Dim,Mode> RotationBase< Derived, _Dim >::operator* ( const Transform< Scalar, Dim, Mode > &  t) const [inline]
Returns:
the concatenation of the rotation *this with a transformation t

Definition at line 102 of file RotationBase.h.

template<typename Derived, int _Dim>
template<typename OtherDerived >
EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType 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 84 of file RotationBase.h.

template<typename Derived, int _Dim>
Transform<Scalar,Dim,Isometry> 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 69 of file RotationBase.h.

template<typename Derived, int _Dim>
RotationMatrixType RotationBase< Derived, _Dim >::toRotationMatrix ( void  ) const [inline]

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 89 of file RotationBase.h.

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 93 of file RotationBase.h.




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