10 #ifndef EIGEN_ANGLEAXIS_H 11 #define EIGEN_ANGLEAXIS_H 42 template<
typename _Scalar>
struct traits<AngleAxis<_Scalar> >
44 typedef _Scalar Scalar;
48 template<
typename _Scalar>
49 class AngleAxis :
public RotationBase<AngleAxis<_Scalar>,3>
51 typedef RotationBase<AngleAxis<_Scalar>,3> Base;
55 using Base::operator*;
78 template<
typename Derived>
83 template<
typename Derived>
87 Scalar
angle()
const {
return m_angle; }
89 Scalar&
angle() {
return m_angle; }
92 const Vector3&
axis()
const {
return m_axis; }
97 Vector3&
axis() {
return m_axis; }
100 inline QuaternionType operator* (
const AngleAxis& other)
const 101 {
return QuaternionType(*
this) * QuaternionType(other); }
104 inline QuaternionType operator* (
const QuaternionType& other)
const 105 {
return QuaternionType(*
this) * other; }
108 friend inline QuaternionType operator* (
const QuaternionType& a,
const AngleAxis& b)
109 {
return a * QuaternionType(b); }
115 template<
class QuatDerived>
117 template<
typename Derived>
120 template<
typename Derived>
122 Matrix3 toRotationMatrix(
void)
const;
129 template<
typename NewScalarType>
130 inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type
cast()
const 131 {
return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*
this); }
134 template<
typename OtherScalarType>
137 m_axis = other.axis().template cast<Scalar>();
138 m_angle = Scalar(other.angle());
141 static inline const AngleAxis Identity() {
return AngleAxis(Scalar(0), Vector3::UnitX()); }
148 {
return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
164 template<
typename Scalar>
165 template<
typename QuatDerived>
172 Scalar n2 = q.
vec().squaredNorm();
176 m_axis << Scalar(1), Scalar(0), Scalar(0);
180 m_angle = Scalar(2)*acos((min)((max)(Scalar(-1),q.
w()),Scalar(1)));
181 m_axis = q.
vec() / sqrt(n2);
188 template<
typename Scalar>
189 template<
typename Derived>
194 return *
this = QuaternionType(mat);
200 template<
typename Scalar>
201 template<
typename Derived>
204 return *
this = QuaternionType(mat);
209 template<
typename Scalar>
216 Vector3 sin_axis = sin(m_angle) * m_axis;
217 Scalar c = cos(m_angle);
218 Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
221 tmp = cos1_axis.x() * m_axis.y();
222 res.coeffRef(0,1) = tmp - sin_axis.z();
223 res.coeffRef(1,0) = tmp + sin_axis.z();
225 tmp = cos1_axis.x() * m_axis.z();
226 res.coeffRef(0,2) = tmp + sin_axis.y();
227 res.coeffRef(2,0) = tmp - sin_axis.y();
229 tmp = cos1_axis.y() * m_axis.z();
230 res.coeffRef(1,2) = tmp - sin_axis.x();
231 res.coeffRef(2,1) = tmp + sin_axis.x();
233 res.
diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;
240 #endif // EIGEN_ANGLEAXIS_H AngleAxis()
Definition: AngleAxis.h:72
Scalar w() const
Definition: Quaternion.h:66
AngleAxis(const MatrixBase< Derived > &m)
Definition: AngleAxis.h:84
const VectorBlock< const Coefficients, 3 > vec() const
Definition: Quaternion.h:78
Matrix3 toRotationMatrix(void) const
Definition: AngleAxis.h:211
const Vector3 & axis() const
Definition: AngleAxis.h:92
Holds information about the various numeric (i.e. scalar) types allowed by Eigen. ...
Definition: NumTraits.h:88
AngleAxis inverse() const
Definition: AngleAxis.h:112
bool isApprox(const AngleAxis &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: AngleAxis.h:147
AngleAxis(const Scalar &angle, const MatrixBase< Derived > &axis)
Definition: AngleAxis.h:79
AngleAxis< double > AngleAxisd
Definition: AngleAxis.h:156
AngleAxis< float > AngleAxisf
Definition: AngleAxis.h:153
AngleAxis(const QuaternionBase< QuatDerived > &q)
Definition: AngleAxis.h:81
Scalar angle() const
Definition: AngleAxis.h:87
Scalar & angle()
Definition: AngleAxis.h:89
DiagonalReturnType diagonal()
Definition: Diagonal.h:168
Vector3 & axis()
Definition: AngleAxis.h:97
Base class for quaternion expressions.
Definition: ForwardDeclarations.h:233
internal::cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type cast() const
Definition: AngleAxis.h:130
Definition: Eigen_Colamd.h:50
The quaternion class used to represent 3D orientations and rotations.
Definition: ForwardDeclarations.h:263
_Scalar Scalar
Definition: AngleAxis.h:59
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:127
AngleAxis(const AngleAxis< OtherScalarType > &other)
Definition: AngleAxis.h:135
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48
Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.
Definition: ForwardDeclarations.h:235