1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
11
12namespace Eigen {
13
14// this file aims to contains the various representations of rotation/orientation
15// in 2D and 3D space excepted Matrix and Quaternion.
16
17/** \class RotationBase
18  *
19  * \brief Common base class for compact rotation representations
20  *
21  * \param Derived is the derived type, i.e., a rotation type
22  * \param _Dim the dimension of the space
23  */
24template<typename Derived, int _Dim>
25class RotationBase
26{
27  public:
28    enum { Dim = _Dim };
29    /** the scalar type of the coefficients */
30    typedef typename ei_traits<Derived>::Scalar Scalar;
31
32    /** corresponding linear transformation matrix type */
33    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
34
35    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
36    inline Derived& derived() { return *static_cast<Derived*>(this); }
37
38    /** \returns an equivalent rotation matrix */
39    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
40
41    /** \returns the inverse rotation */
42    inline Derived inverse() const { return derived().inverse(); }
43
44    /** \returns the concatenation of the rotation \c *this with a translation \a t */
45    inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const
46    { return toRotationMatrix() * t; }
47
48    /** \returns the concatenation of the rotation \c *this with a scaling \a s */
49    inline RotationMatrixType operator*(const Scaling<Scalar,Dim>& s) const
50    { return toRotationMatrix() * s; }
51
52    /** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
53    inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
54    { return toRotationMatrix() * t; }
55};
56
57/** \geometry_module
58  *
59  * Constructs a Dim x Dim rotation matrix from the rotation \a r
60  */
61template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
62template<typename OtherDerived>
63Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
64::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
65{
66  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
67  *this = r.toRotationMatrix();
68}
69
70/** \geometry_module
71  *
72  * Set a Dim x Dim rotation matrix from the rotation \a r
73  */
74template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
75template<typename OtherDerived>
76Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
77Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
78::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
79{
80  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
81  return *this = r.toRotationMatrix();
82}
83
84/** \internal
85  *
86  * Helper function to return an arbitrary rotation object to a rotation matrix.
87  *
88  * \param Scalar the numeric type of the matrix coefficients
89  * \param Dim the dimension of the current space
90  *
91  * It returns a Dim x Dim fixed size matrix.
92  *
93  * Default specializations are provided for:
94  *   - any scalar type (2D),
95  *   - any matrix expression,
96  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
97  *
98  * Currently ei_toRotationMatrix is only used by Transform.
99  *
100  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
101  */
102template<typename Scalar, int Dim>
103static inline Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s)
104{
105  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
106  return Rotation2D<Scalar>(s).toRotationMatrix();
107}
108
109template<typename Scalar, int Dim, typename OtherDerived>
110static inline Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
111{
112  return r.toRotationMatrix();
113}
114
115template<typename Scalar, int Dim, typename OtherDerived>
116static inline const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat)
117{
118  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
119    YOU_MADE_A_PROGRAMMING_MISTAKE)
120  return mat;
121}
122
123} // end namespace Eigen
124