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>
84 template<
typename QuatDerived>
87 template<
typename Derived>
91 EIGEN_DEVICE_FUNC Scalar
angle()
const {
return m_angle; }
93 EIGEN_DEVICE_FUNC Scalar&
angle() {
return m_angle; }
96 EIGEN_DEVICE_FUNC
const Vector3&
axis()
const {
return m_axis; }
101 EIGEN_DEVICE_FUNC Vector3&
axis() {
return m_axis; }
105 {
return QuaternionType(*
this) * QuaternionType(other); }
108 EIGEN_DEVICE_FUNC
inline QuaternionType
operator* (
const QuaternionType& other)
const 109 {
return QuaternionType(*
this) * other; }
112 friend EIGEN_DEVICE_FUNC
inline QuaternionType
operator* (
const QuaternionType& a,
const AngleAxis& b)
113 {
return a * QuaternionType(b); }
119 template<
class QuatDerived>
121 template<
typename Derived>
124 template<
typename Derived>
126 EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix(
void)
const;
133 template<
typename NewScalarType>
134 EIGEN_DEVICE_FUNC
inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type
cast()
const 135 {
return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*
this); }
138 template<
typename OtherScalarType>
141 m_axis = other.axis().template cast<Scalar>();
142 m_angle = Scalar(other.angle());
145 EIGEN_DEVICE_FUNC
static inline const AngleAxis Identity() {
return AngleAxis(Scalar(0), Vector3::UnitX()); }
152 {
return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
168 template<
typename Scalar>
169 template<
typename QuatDerived>
172 EIGEN_USING_STD_MATH(atan2)
173 EIGEN_USING_STD_MATH(
abs)
174 Scalar n = q.
vec().norm();
176 n = q.
vec().stableNorm();
180 m_angle = Scalar(2)*atan2(n,
abs(q.
w()));
183 m_axis = q.
vec() / n;
188 m_axis << Scalar(1), Scalar(0), Scalar(0);
195 template<
typename Scalar>
196 template<
typename Derived>
201 return *
this = QuaternionType(mat);
207 template<
typename Scalar>
208 template<
typename Derived>
211 return *
this = QuaternionType(mat);
216 template<
typename Scalar>
220 EIGEN_USING_STD_MATH(
sin)
221 EIGEN_USING_STD_MATH(
cos)
223 Vector3 sin_axis =
sin(m_angle) * m_axis;
224 Scalar c =
cos(m_angle);
225 Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
228 tmp = cos1_axis.x() * m_axis.y();
229 res.
coeffRef(0,1) = tmp - sin_axis.z();
230 res.
coeffRef(1,0) = tmp + sin_axis.z();
232 tmp = cos1_axis.x() * m_axis.z();
233 res.
coeffRef(0,2) = tmp + sin_axis.y();
234 res.
coeffRef(2,0) = tmp - sin_axis.y();
236 tmp = cos1_axis.y() * m_axis.z();
237 res.
coeffRef(1,2) = tmp - sin_axis.x();
238 res.
coeffRef(2,1) = tmp + sin_axis.x();
240 res.
diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;
247 #endif // EIGEN_ANGLEAXIS_H const Vector3 & axis() const
Definition: AngleAxis.h:96
AngleAxis(const Scalar &angle, const MatrixBase< Derived > &axis)
Definition: AngleAxis.h:80
AngleAxis inverse() const
Definition: AngleAxis.h:116
Scalar angle() const
Definition: AngleAxis.h:91
internal::cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type cast() const
Definition: AngleAxis.h:134
Namespace containing all symbols from the Eigen library.
Definition: Core:287
AngleAxis< double > AngleAxisd
Definition: AngleAxis.h:160
Holds information about the various numeric (i.e. scalar) types allowed by Eigen. ...
Definition: NumTraits.h:150
bool isApprox(const AngleAxis &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: AngleAxis.h:151
Scalar & coeffRef(Index rowId, Index colId)
Definition: PlainObjectBase.h:183
const VectorBlock< const Coefficients, 3 > vec() const
Definition: Quaternion.h:79
AngleAxis()
Definition: AngleAxis.h:72
const Eigen::CwiseUnaryOp< Eigen::internal::scalar_cos_op< typename Derived::Scalar >, const Derived > cos(const Eigen::ArrayBase< Derived > &x)
const Product< MatrixDerived, PermutationDerived, AliasFreeProduct > operator*(const MatrixBase< MatrixDerived > &matrix, const PermutationBase< PermutationDerived > &permutation)
Definition: PermutationMatrix.h:543
AngleAxis< float > AngleAxisf
Definition: AngleAxis.h:157
_Scalar Scalar
Definition: AngleAxis.h:59
Base class for quaternion expressions.
Definition: ForwardDeclarations.h:268
Vector3 & axis()
Definition: AngleAxis.h:101
const Eigen::CwiseUnaryOp< Eigen::internal::scalar_abs_op< typename Derived::Scalar >, const Derived > abs(const Eigen::ArrayBase< Derived > &x)
Definition: Eigen_Colamd.h:50
The quaternion class used to represent 3D orientations and rotations.
Definition: ForwardDeclarations.h:273
AngleAxis(const AngleAxis< OtherScalarType > &other)
Definition: AngleAxis.h:139
DiagonalReturnType diagonal()
Definition: Diagonal.h:188
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:178
AngleAxis(const QuaternionBase< QuatDerived > &q)
Definition: AngleAxis.h:85
Scalar & angle()
Definition: AngleAxis.h:93
AngleAxis(const MatrixBase< Derived > &m)
Definition: AngleAxis.h:88
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:270
const Eigen::CwiseUnaryOp< Eigen::internal::scalar_sin_op< typename Derived::Scalar >, const Derived > sin(const Eigen::ArrayBase< Derived > &x)
Scalar w() const
Definition: Quaternion.h:67
Matrix3 toRotationMatrix(void) const
Definition: AngleAxis.h:218