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

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

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

Public Types
enum	{ Dim }
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef internal::traits< Derived >::Scalar	Scalar
typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Member Functions
template<typename OtherVectorType >
VectorType	_transformVector (const OtherVectorType &v) const
Derived &	derived ()
const Derived &	derived () const
Derived	inverse () const
RotationMatrixType	matrix () const
template<typename OtherDerived >
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
Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const
RotationMatrixType	toRotationMatrix () const

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 31 of file RotationBase.h.

Member Typedef Documentation

RotationMatrixType

template<typename Derived , int Dim_>

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

corresponding linear transformation matrix type

Definition at line 39 of file RotationBase.h.

Scalar

template<typename Derived , int Dim_>

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

the scalar type of the coefficients

Definition at line 36 of file RotationBase.h.

VectorType

template<typename Derived , int Dim_>

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

Definition at line 40 of file RotationBase.h.

Member Enumeration Documentation

anonymous enum

template<typename Derived , int Dim_>

anonymous enum

Enumerator
Dim

Definition at line 34 of file RotationBase.h.

{ Dim = Dim_ };

Member Function Documentation

_transformVector()

template<typename Derived , int Dim_>

template<typename OtherVectorType >

VectorType Eigen::RotationBase< Derived, Dim_ >::_transformVector ( const OtherVectorType &  v ) const

inline

Definition at line 95 of file RotationBase.h.

    { return toRotationMatrix() * v; }

derived() [1/2]

template<typename Derived , int Dim_>

Derived& Eigen::RotationBase< Derived, Dim_ >::derived ( )

inline

Definition at line 44 of file RotationBase.h.

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

derived() [2/2]

template<typename Derived , int Dim_>

const Derived& Eigen::RotationBase< Derived, Dim_ >::derived ( ) const

inline

Definition at line 43 of file RotationBase.h.

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

inverse()

template<typename Derived , int Dim_>

Derived Eigen::RotationBase< Derived, Dim_ >::inverse ( ) const

inline

Returns

the inverse rotation

Definition at line 55 of file RotationBase.h.

{ return derived().inverse(); }

matrix()

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 52 of file RotationBase.h.

{ return derived().toRotationMatrix(); }

operator*() [1/4]

template<typename Derived , int Dim_>

template<typename OtherDerived >

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 73 of file RotationBase.h.

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

operator*() [2/4]

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 91 of file RotationBase.h.

    { return toRotationMatrix() * t; }

operator*() [3/4]

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 58 of file RotationBase.h.

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

operator*() [4/4]

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 62 of file RotationBase.h.

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

toRotationMatrix()

template<typename Derived , int Dim_>

RotationMatrixType Eigen::RotationBase< Derived, Dim_ >::toRotationMatrix ( void  ) const

inline

Returns

an equivalent rotation matrix

Definition at line 47 of file RotationBase.h.

{ return derived().toRotationMatrix(); }

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

• ForwardDeclarations.h
• RotationBase.h