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<div class="title">EulerAngles.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_EULERANGLES_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_EULERANGLES_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="l00035"></a><span class="lineno"> 35</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="keyword">inline</span> Matrix<typename MatrixBase<Derived>::Scalar,3,1></div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#gad118fececd448d7485ffea4858775e5a"> 37</a></span> <a class="code" href="group__Geometry__Module.html#gad118fececd448d7485ffea4858775e5a">MatrixBase<Derived>::eulerAngles</a>(<a class="code" href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Index</a> a0, <a class="code" href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Index</a> a1, <a class="code" href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Index</a> a2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">using</span> std::atan2;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">using</span> std::sin;</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">using</span> std::cos;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="comment">/* Implemented from Graphics Gems IV */</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classEigen_1_1Matrix.html">Matrix<Scalar,3,1></a> res;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix<typename Derived::Scalar,2,1></a> Vector2;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">const</span> <a class="code" href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Index</a> odd = ((a0+1)%3 == a1) ? 0 : 1;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">const</span> <a class="code" href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Index</a> i = a0;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">const</span> <a class="code" href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Index</a> j = (a0 + 1 + odd)%3;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">const</span> <a class="code" href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Index</a> k = (a0 + 2 - odd)%3;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">if</span> (a0==a2)</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  res[0] = atan2(coeff(j,i), coeff(k,i));</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">if</span>((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0)))</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  res[1] = -atan2(s2, coeff(i,i));</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  {</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  res[1] = atan2(s2, coeff(i,i));</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  }</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">// With a=(0,1,0), we have i=0; j=1; k=2, and after computing the first two angles,</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">// we can compute their respective rotation, and apply its inverse to M. Since the result must</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// be a rotation around x, we have:</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">// c2 s1.s2 c1.s2 1 0 0 </span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="comment">// 0 c1 -s1 * M = 0 c3 s3</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// -s2 s1.c2 c1.c2 0 -s3 c3</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">//</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">// Thus: m11.c1 - m21.s1 = c3 & m12.c1 - m22.s1 = s3</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  Scalar s1 = sin(res[0]);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  Scalar c1 = cos(res[0]);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  res[2] = atan2(c1*coeff(j,k)-s1*coeff(k,k), c1*coeff(j,j) - s1 * coeff(k,j));</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>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  {</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  res[0] = atan2(coeff(j,k), coeff(k,k));</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  Scalar c2 = Vector2(coeff(i,i), coeff(i,j)).norm();</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">if</span>((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0))) {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  res[1] = atan2(-coeff(i,k), -c2);</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  res[1] = atan2(-coeff(i,k), c2);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  Scalar s1 = sin(res[0]);</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  Scalar c1 = cos(res[0]);</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  res[2] = atan2(s1*coeff(k,i)-c1*coeff(j,i), c1*coeff(j,j) - s1 * coeff(k,j));</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>  <span class="keywordflow">if</span> (!odd)</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  res = -res;</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="keywordflow">return</span> res;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> }</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> } <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="preprocessor">#endif // EIGEN_EULERANGLES_H</span></div>
<div class="ttc" id="group__Geometry__Module_html_gad118fececd448d7485ffea4858775e5a"><div class="ttname"><a href="group__Geometry__Module.html#gad118fececd448d7485ffea4858775e5a">Eigen::MatrixBase::eulerAngles</a></div><div class="ttdeci">Matrix< Scalar, 3, 1 > eulerAngles(Index a0, Index a1, Index a2) const </div><div class="ttdef"><b>Definition:</b> EulerAngles.h:37</div></div>
<div class="ttc" id="classEigen_1_1DenseBase_html_a4d4873e91be950c079f067fa97fd5c40"><div class="ttname"><a href="classEigen_1_1DenseBase.html#a4d4873e91be950c079f067fa97fd5c40">Eigen::DenseBase::Index</a></div><div class="ttdeci">internal::traits< Derived >::Index Index</div><div class="ttdoc">The type of indices. </div><div class="ttdef"><b>Definition:</b> DenseBase.h:61</div></div>
<div class="ttc" id="classEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix< Scalar, 3, 1 ></a></div></div>
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