Common base class for compact rotation representations. More...
Public Types | |
enum | { Dim } |
typedef Matrix< Scalar, Dim, Dim > | RotationMatrixType |
typedef ei_traits< Derived > ::Scalar | Scalar |
Public Member Functions | |
const Derived & | derived () const |
Derived & | derived () |
Derived | inverse () const |
Transform< Scalar, Dim > | operator* (const Translation< Scalar, Dim > &t) const |
Transform< Scalar, Dim > | operator* (const Transform< Scalar, Dim > &t) const |
RotationMatrixType | operator* (const Scaling< Scalar, Dim > &s) const |
RotationMatrixType | toRotationMatrix () const |
Common base class for compact rotation representations.
Derived | is the derived type, i.e., a rotation type |
_Dim | the dimension of the space |
typedef Matrix<Scalar,Dim,Dim> RotationMatrixType |
corresponding linear transformation matrix type
the scalar type of the coefficients
Reimplemented in Rotation2D< _Scalar >, Quaternion< _Scalar >, and AngleAxis< _Scalar >.
Derived inverse | ( | ) | const [inline] |
Reimplemented in Rotation2D< _Scalar >, Quaternion< _Scalar >, and AngleAxis< _Scalar >.
Transform<Scalar,Dim> operator* | ( | const Translation< Scalar, Dim > & | t | ) | const [inline] |
*this
with a translation t *this
with an affine transformation t RotationMatrixType operator* | ( | const Scaling< Scalar, Dim > & | s | ) | const [inline] |
*this
with a scaling s RotationMatrixType toRotationMatrix | ( | ) | const [inline] |
Reimplemented in Rotation2D< _Scalar >, Quaternion< _Scalar >, and AngleAxis< _Scalar >.