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RotationBase< Derived, _Dim > Class Template Reference

Detailed Description

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

Public Types

typedef Matrix< Scalar, Dim, Dim > RotationMatrixType
 
typedef internal::traits
< Derived >::Scalar 		Scalar
 

Public Member Functions

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)
 

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

Member Function Documentation

Derived inverse ( ) const
inline
Returns
the inverse rotation
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

Referenced by RotationBase< Derived, 3 >::operator*().

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