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<div class="title">RotationBase.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#ifndef EIGEN_ROTATIONBASE_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_ROTATIONBASE_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span>Eigen { </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">// forward declaration</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">template</span><<span class="keyword">typename</span> RotationDerived, <span class="keyword">typename</span> MatrixType, <span class="keywordtype">bool</span> IsVector=MatrixType::IsVectorAtCompileTime></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">struct </span>rotation_base_generic_product_selector;</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> }</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived, <span class="keywordtype">int</span> _Dim></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">class </span>RotationBase</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> {</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">enum</span> { Dim = _Dim };</div>
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9"> 34</a></span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> internal::traits<Derived>::Scalar <a class="code" href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310"> 37</a></span>  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix<Scalar,Dim,Dim></a> <a class="code" href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">RotationMatrixType</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix<Scalar,Dim,1></a> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">inline</span> <span class="keyword">const</span> Derived& derived()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> *<span class="keyword">static_cast<</span><span class="keyword">const </span>Derived*<span class="keyword">></span>(<span class="keyword">this</span>); }</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">inline</span> Derived& derived() { <span class="keywordflow">return</span> *<span class="keyword">static_cast<</span>Derived*<span class="keyword">></span>(<span class="keyword">this</span>); }</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#aeb3f061eb5a0f7a4509f69a7f2b9d226"> 45</a></span>  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#aeb3f061eb5a0f7a4509f69a7f2b9d226">toRotationMatrix</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> derived().toRotationMatrix(); }</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a137458fc1a96a26c9fd58d7b2b61336d"> 50</a></span>  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#a137458fc1a96a26c9fd58d7b2b61336d">matrix</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> derived().toRotationMatrix(); }</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#afe93e2d51ae82a198430ec02e1be98f9"> 53</a></span>  <span class="keyword">inline</span> Derived <a class="code" href="classEigen_1_1RotationBase.html#afe93e2d51ae82a198430ec02e1be98f9">inverse</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> derived().inverse(); }</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a39e946f5ec63f80d28cf7988e6ba80b9"> 56</a></span>  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform<Scalar,Dim,Isometry></a> <a class="code" href="classEigen_1_1RotationBase.html#a39e946f5ec63f80d28cf7988e6ba80b9">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Translation.html">Translation<Scalar,Dim></a>& t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Transform.html">Transform<Scalar,Dim,Isometry></a>(*this) * t; }</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a84d2f46dbcd54e3a3b8ebcc673ad3920"> 60</a></span>  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#a84d2f46dbcd54e3a3b8ebcc673ad3920">operator*</a>(<span class="keyword">const</span> UniformScaling<Scalar>& s)<span class="keyword"> const</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1RotationBase.html#aeb3f061eb5a0f7a4509f69a7f2b9d226">toRotationMatrix</a>() * s.factor(); }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  EIGEN_STRONG_INLINE <span class="keyword">typename</span> internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#acd4f0475d084e54c0dde2ef3f78822c0"> 71</a></span>  <a class="code" href="classEigen_1_1RotationBase.html#acd4f0475d084e54c0dde2ef3f78822c0">operator*</a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase<OtherDerived></a>& e)<span class="keyword"> const</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.<a class="code" href="structEigen_1_1EigenBase.html#aa84222add803ad7c9db07dd4dd91d5d9">derived</a>()); }</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived> <span class="keyword">friend</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a38f506f2d3617685d1f684cdbc4f8dd4"> 76</a></span>  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">RotationMatrixType</a> <a class="code" href="classEigen_1_1RotationBase.html#a38f506f2d3617685d1f684cdbc4f8dd4">operator*</a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase<OtherDerived></a>& l, <span class="keyword">const</span> Derived& r)</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  { <span class="keywordflow">return</span> l.<a class="code" href="structEigen_1_1EigenBase.html#aa84222add803ad7c9db07dd4dd91d5d9">derived</a>() * r.toRotationMatrix(); }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a615ece720e9826703b399dfaeaba1ae0"> 80</a></span>  <span class="keyword">friend</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform<Scalar,Dim,Affine></a> <a class="code" href="classEigen_1_1RotationBase.html#a615ece720e9826703b399dfaeaba1ae0">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix<Scalar,Dim></a>& l, <span class="keyword">const</span> Derived& r)</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  { </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <a class="code" href="classEigen_1_1Transform.html">Transform<Scalar,Dim,Affine></a> res(r);</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  res.<a class="code" href="classEigen_1_1Transform.html#abbee559820c5cdfe7653a646396b0a8f">linear</a>().applyOnTheLeft(l);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">template</span><<span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classEigen_1_1RotationBase.html#a4905e372221a7ca6eaf7f11056bc1b7a"> 89</a></span>  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform<Scalar,Dim,Mode></a> <a class="code" href="classEigen_1_1RotationBase.html#a4905e372221a7ca6eaf7f11056bc1b7a">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform<Scalar,Dim,Mode,Options></a>& t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1RotationBase.html#aeb3f061eb5a0f7a4509f69a7f2b9d226">toRotationMatrix</a>() * t; }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherVectorType></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keyword">inline</span> VectorType _transformVector(<span class="keyword">const</span> OtherVectorType& v)<span class="keyword"> const</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1RotationBase.html#aeb3f061eb5a0f7a4509f69a7f2b9d226">toRotationMatrix</a>() * v; }</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> };</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment">// implementation of the generic product rotation * matrix</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">template</span><<span class="keyword">typename</span> RotationDerived, <span class="keyword">typename</span> MatrixType></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">struct </span>rotation_base_generic_product_selector<RotationDerived,MatrixType,false></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> {</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">enum</span> { Dim = RotationDerived::Dim };</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">typedef</span> Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">static</span> <span class="keyword">inline</span> ReturnType run(<span class="keyword">const</span> RotationDerived& r, <span class="keyword">const</span> MatrixType& m)</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  { <span class="keywordflow">return</span> r.toRotationMatrix() * m; }</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> };</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="keyword">template</span><<span class="keyword">typename</span> RotationDerived, <span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> MaxDim></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">struct </span>rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false ></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">typedef</span> Transform<Scalar,Dim,Affine> ReturnType;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">static</span> <span class="keyword">inline</span> ReturnType run(<span class="keyword">const</span> RotationDerived& r, <span class="keyword">const</span> DiagonalMatrix<Scalar,Dim,MaxDim>& m)</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  {</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  ReturnType res(r);</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  res.linear() *= m;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  }</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> };</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="keyword">template</span><<span class="keyword">typename</span> RotationDerived,<span class="keyword">typename</span> OtherVectorType></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="keyword">struct </span>rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> {</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">enum</span> { Dim = RotationDerived::Dim };</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">typedef</span> Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">static</span> EIGEN_STRONG_INLINE ReturnType run(<span class="keyword">const</span> RotationDerived& r, <span class="keyword">const</span> OtherVectorType& v)</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  {</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">return</span> r._transformVector(v);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> };</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> } <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="keyword">template</span><<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _Rows, <span class="keywordtype">int</span> _Cols, <span class="keywordtype">int</span> _Storage, <span class="keywordtype">int</span> _MaxRows, <span class="keywordtype">int</span> _MaxCols></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <a class="code" href="classEigen_1_1Matrix.html#a3aede62f513da27e6f61ae7a972b4f96">Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols></a></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classEigen_1_1Matrix.html#a80f437faa158729792ccbd6f0c023d9a"> 141</a></span> <a class="code" href="classEigen_1_1Matrix.html#a3aede62f513da27e6f61ae7a972b4f96">::Matrix</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase<OtherDerived,ColsAtCompileTime></a>& r)</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> {</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(<a class="code" href="classEigen_1_1Matrix.html">Matrix</a>,<span class="keywordtype">int</span>(OtherDerived::Dim),<span class="keywordtype">int</span>(OtherDerived::Dim))</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  *<span class="keyword">this</span> = r.toRotationMatrix();</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> }</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">template</span><<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _Rows, <span class="keywordtype">int</span> _Cols, <span class="keywordtype">int</span> _Storage, <span class="keywordtype">int</span> _MaxRows, <span class="keywordtype">int</span> _MaxCols></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">template</span><<span class="keyword">typename</span> OtherDerived></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols></a>&</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <a class="code" href="classEigen_1_1Matrix.html#ad0cefab13f61a9dfd2733a7da70a264e">Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols></a></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classEigen_1_1Matrix.html#ae8cd84b304d3593c792fcd6fc1f3180f"> 155</a></span> <a class="code" href="classEigen_1_1Matrix.html#ad0cefab13f61a9dfd2733a7da70a264e">::operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase<OtherDerived,ColsAtCompileTime></a>& r)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> {</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(<a class="code" href="classEigen_1_1Matrix.html">Matrix</a>,<span class="keywordtype">int</span>(OtherDerived::Dim),<span class="keywordtype">int</span>(OtherDerived::Dim))</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span> = r.toRotationMatrix();</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> }</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">template</span><<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix<Scalar,2,2></a> toRotationMatrix(<span class="keyword">const</span> Scalar& s)</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> {</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  return <a class="code" href="classEigen_1_1Rotation2D.html">Rotation2D</a><Scalar>(s).toRotationMatrix();</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> }</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> template<typename Scalar, <span class="keywordtype">int</span> Dim, typename OtherDerived></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> static inline <a class="code" href="classEigen_1_1Matrix.html">Matrix</a><Scalar,Dim,Dim> toRotationMatrix(const <a class="code" href="classEigen_1_1RotationBase.html">RotationBase</a><OtherDerived,Dim>& r)</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> {</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">return</span> r.toRotationMatrix();</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> }</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">template</span><<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keyword">typename</span> OtherDerived></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">const</span> MatrixBase<OtherDerived>& toRotationMatrix(<span class="keyword">const</span> MatrixBase<OtherDerived>& mat)</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> {</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  return mat;</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> }</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> </div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> } <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> } <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="preprocessor">#endif // EIGEN_ROTATIONBASE_H</span></div>
<div class="ttc" id="classEigen_1_1Transform_html_abbee559820c5cdfe7653a646396b0a8f"><div class="ttname"><a href="classEigen_1_1Transform.html#abbee559820c5cdfe7653a646396b0a8f">Eigen::Transform::linear</a></div><div class="ttdeci">ConstLinearPart linear() const </div><div class="ttdef"><b>Definition:</b> Transform.h:372</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_a84d2f46dbcd54e3a3b8ebcc673ad3920"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a84d2f46dbcd54e3a3b8ebcc673ad3920">Eigen::RotationBase::operator*</a></div><div class="ttdeci">RotationMatrixType operator*(const UniformScaling< Scalar > &s) const </div><div class="ttdef"><b>Definition:</b> RotationBase.h:60</div></div>
<div class="ttc" id="classEigen_1_1Matrix_html_ad0cefab13f61a9dfd2733a7da70a264e"><div class="ttname"><a href="classEigen_1_1Matrix.html#ad0cefab13f61a9dfd2733a7da70a264e">Eigen::Matrix::operator=</a></div><div class="ttdeci">Matrix & operator=(const Matrix &other)</div><div class="ttdoc">Assigns matrices to each other. </div><div class="ttdef"><b>Definition:</b> Matrix.h:154</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_a39e946f5ec63f80d28cf7988e6ba80b9"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a39e946f5ec63f80d28cf7988e6ba80b9">Eigen::RotationBase::operator*</a></div><div class="ttdeci">Transform< Scalar, Dim, Isometry > operator*(const Translation< Scalar, Dim > &t) const </div><div class="ttdef"><b>Definition:</b> RotationBase.h:56</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_aeb3f061eb5a0f7a4509f69a7f2b9d226"><div class="ttname"><a href="classEigen_1_1RotationBase.html#aeb3f061eb5a0f7a4509f69a7f2b9d226">Eigen::RotationBase::toRotationMatrix</a></div><div class="ttdeci">RotationMatrixType toRotationMatrix() const </div><div class="ttdef"><b>Definition:</b> RotationBase.h:45</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_a137458fc1a96a26c9fd58d7b2b61336d"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a137458fc1a96a26c9fd58d7b2b61336d">Eigen::RotationBase::matrix</a></div><div class="ttdeci">RotationMatrixType matrix() const </div><div class="ttdef"><b>Definition:</b> RotationBase.h:50</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_a844358c46408e878e60c4026c52eb1e9"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a844358c46408e878e60c4026c52eb1e9">Eigen::RotationBase::Scalar</a></div><div class="ttdeci">internal::traits< Derived >::Scalar Scalar</div><div class="ttdef"><b>Definition:</b> RotationBase.h:34</div></div>
<div class="ttc" id="classEigen_1_1DiagonalMatrix_html"><div class="ttname"><a href="classEigen_1_1DiagonalMatrix.html">Eigen::DiagonalMatrix</a></div><div class="ttdoc">Represents a diagonal matrix with its storage. </div><div class="ttdef"><b>Definition:</b> DiagonalMatrix.h:135</div></div>
<div class="ttc" id="classEigen_1_1Matrix_html_a3aede62f513da27e6f61ae7a972b4f96"><div class="ttname"><a href="classEigen_1_1Matrix.html#a3aede62f513da27e6f61ae7a972b4f96">Eigen::Matrix::Matrix</a></div><div class="ttdeci">Matrix()</div><div class="ttdoc">Default constructor. </div><div class="ttdef"><b>Definition:</b> Matrix.h:203</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_a615ece720e9826703b399dfaeaba1ae0"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a615ece720e9826703b399dfaeaba1ae0">Eigen::RotationBase::operator*</a></div><div class="ttdeci">friend Transform< Scalar, Dim, Affine > operator*(const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)</div><div class="ttdef"><b>Definition:</b> RotationBase.h:80</div></div>
<div class="ttc" id="structEigen_1_1EigenBase_html"><div class="ttname"><a href="structEigen_1_1EigenBase.html">Eigen::EigenBase</a></div><div class="ttdef"><b>Definition:</b> EigenBase.h:26</div></div>
<div class="ttc" id="classEigen_1_1Translation_html"><div class="ttname"><a href="classEigen_1_1Translation.html">Eigen::Translation</a></div><div class="ttdoc">Represents a translation transformation. </div><div class="ttdef"><b>Definition:</b> ForwardDeclarations.h:236</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_abb59a4f54aebad6325389d49d48de310"><div class="ttname"><a href="classEigen_1_1RotationBase.html#abb59a4f54aebad6325389d49d48de310">Eigen::RotationBase::RotationMatrixType</a></div><div class="ttdeci">Matrix< Scalar, Dim, Dim > RotationMatrixType</div><div class="ttdef"><b>Definition:</b> RotationBase.h:37</div></div>
<div class="ttc" id="structEigen_1_1EigenBase_html_aa84222add803ad7c9db07dd4dd91d5d9"><div class="ttname"><a href="structEigen_1_1EigenBase.html#aa84222add803ad7c9db07dd4dd91d5d9">Eigen::EigenBase::derived</a></div><div class="ttdeci">Derived & derived()</div><div class="ttdef"><b>Definition:</b> EigenBase.h:34</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_a4905e372221a7ca6eaf7f11056bc1b7a"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a4905e372221a7ca6eaf7f11056bc1b7a">Eigen::RotationBase::operator*</a></div><div class="ttdeci">Transform< Scalar, Dim, Mode > operator*(const Transform< Scalar, Dim, Mode, Options > &t) const </div><div class="ttdef"><b>Definition:</b> RotationBase.h:89</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html"><div class="ttname"><a href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a></div><div class="ttdoc">Common base class for compact rotation representations. </div><div class="ttdef"><b>Definition:</b> ForwardDeclarations.h:231</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_acd4f0475d084e54c0dde2ef3f78822c0"><div class="ttname"><a href="classEigen_1_1RotationBase.html#acd4f0475d084e54c0dde2ef3f78822c0">Eigen::RotationBase::operator*</a></div><div class="ttdeci">internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType operator*(const EigenBase< OtherDerived > &e) const </div><div class="ttdef"><b>Definition:</b> RotationBase.h:71</div></div>
<div class="ttc" id="classEigen_1_1Rotation2D_html"><div class="ttname"><a href="classEigen_1_1Rotation2D.html">Eigen::Rotation2D</a></div><div class="ttdoc">Represents a rotation/orientation in a 2 dimensional space. </div><div class="ttdef"><b>Definition:</b> ForwardDeclarations.h:234</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_afe93e2d51ae82a198430ec02e1be98f9"><div class="ttname"><a href="classEigen_1_1RotationBase.html#afe93e2d51ae82a198430ec02e1be98f9">Eigen::RotationBase::inverse</a></div><div class="ttdeci">Derived inverse() const </div><div class="ttdef"><b>Definition:</b> RotationBase.h:53</div></div>
<div class="ttc" id="classEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix</a></div><div class="ttdoc">The matrix class, also used for vectors and row-vectors. </div><div class="ttdef"><b>Definition:</b> Matrix.h:127</div></div>
<div class="ttc" id="classEigen_1_1Transform_html"><div class="ttname"><a href="classEigen_1_1Transform.html">Eigen::Transform</a></div><div class="ttdoc">Represents an homogeneous transformation in a N dimensional space. </div><div class="ttdef"><b>Definition:</b> ForwardDeclarations.h:261</div></div>
<div class="ttc" id="classEigen_1_1RotationBase_html_a38f506f2d3617685d1f684cdbc4f8dd4"><div class="ttname"><a href="classEigen_1_1RotationBase.html#a38f506f2d3617685d1f684cdbc4f8dd4">Eigen::RotationBase::operator*</a></div><div class="ttdeci">friend RotationMatrixType operator*(const EigenBase< OtherDerived > &l, const Derived &r)</div><div class="ttdef"><b>Definition:</b> RotationBase.h:76</div></div>
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