RotationBase< Derived, _Dim > Class Template Reference

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

#include <RotationBase.h>

List of all members.

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
const Derived &	derived () const
Derived &	derived ()
Derived	inverse () const
RotationMatrixType	matrix () const
Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const
RotationMatrixType	operator* (const UniformScaling< Scalar > &s) 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
RotationMatrixType	toRotationMatrix () 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.

Parameters:

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

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Member Typedef Documentation

typedef Matrix<Scalar,Dim,Dim> RotationMatrixType

corresponding linear transformation matrix type

typedef internal::traits<Derived>::Scalar Scalar

the scalar type of the coefficients

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

typedef Matrix<Scalar,Dim,1> VectorType

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Member Enumeration Documentation

anonymous enum

Enumerator:

Dim

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Member Function Documentation

VectorType _transformVector ( const OtherVectorType &  v ) const

inline

const Derived& derived ( ) const

inline

Referenced by RotationBase< Derived, 3 >::inverse(), RotationBase< Derived, 3 >::matrix(), RotationBase< Derived, 3 >::operator*(), Transform< _Scalar, _Dim, _Mode, _Options >::operator*(), and RotationBase< Derived, 3 >::toRotationMatrix().

Derived& derived ( )

inline

Derived inverse ( ) const

inline

Returns:

the inverse rotation

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

RotationMatrixType matrix ( ) const

inline

Returns:

an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

Transform<Scalar,Dim,Isometry> operator* ( const Translation< Scalar, Dim > &  t ) const

inline

Returns:

the concatenation of the rotation *this with a translation t

RotationMatrixType operator* ( const UniformScaling< Scalar > &  s ) const

inline

Returns:

the concatenation of the rotation *this with a uniform scaling s

internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType 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

Transform<Scalar,Dim,Mode> operator* ( const Transform< Scalar, Dim, Mode, Options > &  t ) const

inline

Returns:

the concatenation of the rotation *this with a transformation t

RotationMatrixType toRotationMatrix ( void  ) const

inline

Returns:

an equivalent rotation matrix

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

Referenced by RotationBase< Derived, 3 >::_transformVector(), Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols >::Matrix(), RotationBase< Derived, 3 >::operator*(), UniformScaling< _Scalar >::operator*(), Transform< _Scalar, _Dim, _Mode, _Options >::operator*=(), and Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols >::operator=().

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Friends And Related Function Documentation

RotationMatrixType operator* ( const EigenBase< OtherDerived > &  l, const Derived &  r  )

friend

Returns:

the concatenation of a linear transformation l with the rotation r

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

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

• RotationBase.h