237 lines
6.7 KiB
C++
237 lines
6.7 KiB
C++
/*
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* RBDL - Rigid Body Dynamics Library
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* Copyright (c) 2011-2016 Martin Felis <martin@fysx.org>
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*
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* Licensed under the zlib license. See LICENSE for more details.
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*/
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#ifndef RBDL_EIGENMATH_H
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#define RBDL_EIGENMATH_H
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/* Exporting templated symbols is tricky when using MSVC. The following lines
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* causes the classes in this file not to be explicitly exported. Instead
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* they are already implicitly exported.
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*/
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#if defined(WIN32) && defined(rbdl_EXPORTS)
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#define RBDL_TEMPLATE_DLLAPI
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#else
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#define RBDL_TEMPLATE_DLLAPI RBDL_DLLAPI
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#endif
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class RBDL_TEMPLATE_DLLAPI Vector3_t : public Eigen::Vector3d
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{
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public:
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typedef Eigen::Vector3d Base;
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template<typename OtherDerived>
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Vector3_t(const Eigen::MatrixBase<OtherDerived>& other)
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: Eigen::Vector3d(other)
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{}
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template<typename OtherDerived>
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Vector3_t& operator=(const Eigen::MatrixBase<OtherDerived>& other)
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{
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this->Base::operator=(other);
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return *this;
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}
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EIGEN_STRONG_INLINE Vector3_t()
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{}
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EIGEN_STRONG_INLINE Vector3_t(
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const double& v0, const double& v1, const double& v2
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)
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{
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Base::_check_template_params();
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(*this) << v0, v1, v2;
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}
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void set(const double& v0, const double& v1, const double& v2)
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{
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Base::_check_template_params();
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(*this) << v0, v1, v2;
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}
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};
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class RBDL_TEMPLATE_DLLAPI Matrix3_t : public Eigen::Matrix3d
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{
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public:
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typedef Eigen::Matrix3d Base;
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template<typename OtherDerived>
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Matrix3_t(const Eigen::MatrixBase<OtherDerived>& other)
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: Eigen::Matrix3d(other)
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{}
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template<typename OtherDerived>
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Matrix3_t& operator=(const Eigen::MatrixBase<OtherDerived>& other)
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{
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this->Base::operator=(other);
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return *this;
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}
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EIGEN_STRONG_INLINE Matrix3_t()
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{}
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EIGEN_STRONG_INLINE Matrix3_t(
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const double& m00, const double& m01, const double& m02,
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const double& m10, const double& m11, const double& m12,
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const double& m20, const double& m21, const double& m22
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)
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{
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Base::_check_template_params();
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(*this)
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<< m00, m01, m02,
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m10, m11, m12,
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m20, m21, m22
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;
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}
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};
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class RBDL_TEMPLATE_DLLAPI Vector4_t : public Eigen::Vector4d
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{
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public:
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typedef Eigen::Vector4d Base;
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template<typename OtherDerived>
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Vector4_t(const Eigen::MatrixBase<OtherDerived>& other)
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: Eigen::Vector4d(other)
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{}
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template<typename OtherDerived>
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Vector4_t& operator=(const Eigen::MatrixBase<OtherDerived>& other)
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{
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this->Base::operator=(other);
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return *this;
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}
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EIGEN_STRONG_INLINE Vector4_t()
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{}
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EIGEN_STRONG_INLINE Vector4_t(
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const double& v0, const double& v1, const double& v2, const double& v3
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)
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{
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Base::_check_template_params();
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(*this) << v0, v1, v2, v3;
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}
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void set(const double& v0, const double& v1, const double& v2, const double& v3)
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{
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Base::_check_template_params();
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(*this) << v0, v1, v2, v3;
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}
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};
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class RBDL_TEMPLATE_DLLAPI SpatialVector_t : public Eigen::Matrix<double, 6, 1>
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{
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public:
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typedef Eigen::Matrix<double, 6, 1> Base;
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template<typename OtherDerived>
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SpatialVector_t(const Eigen::MatrixBase<OtherDerived>& other)
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: Eigen::Matrix<double, 6, 1>(other)
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{}
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template<typename OtherDerived>
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SpatialVector_t& operator=(const Eigen::MatrixBase<OtherDerived>& other)
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{
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this->Base::operator=(other);
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return *this;
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}
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EIGEN_STRONG_INLINE SpatialVector_t()
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{}
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EIGEN_STRONG_INLINE SpatialVector_t(
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const double& v0, const double& v1, const double& v2,
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const double& v3, const double& v4, const double& v5
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)
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{
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Base::_check_template_params();
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(*this) << v0, v1, v2, v3, v4, v5;
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}
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void set(
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const double& v0, const double& v1, const double& v2,
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const double& v3, const double& v4, const double& v5
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)
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{
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Base::_check_template_params();
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(*this) << v0, v1, v2, v3, v4, v5;
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}
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};
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class RBDL_TEMPLATE_DLLAPI SpatialMatrix_t : public Eigen::Matrix<double, 6, 6>
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{
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public:
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typedef Eigen::Matrix<double, 6, 6> Base;
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template<typename OtherDerived>
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SpatialMatrix_t(const Eigen::MatrixBase<OtherDerived>& other)
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: Eigen::Matrix<double, 6, 6>(other)
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{}
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template<typename OtherDerived>
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SpatialMatrix_t& operator=(const Eigen::MatrixBase<OtherDerived>& other)
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{
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this->Base::operator=(other);
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return *this;
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}
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EIGEN_STRONG_INLINE SpatialMatrix_t()
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{}
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EIGEN_STRONG_INLINE SpatialMatrix_t(
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const Scalar& m00, const Scalar& m01, const Scalar& m02, const Scalar& m03, const Scalar& m04, const Scalar& m05,
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const Scalar& m10, const Scalar& m11, const Scalar& m12, const Scalar& m13, const Scalar& m14, const Scalar& m15,
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const Scalar& m20, const Scalar& m21, const Scalar& m22, const Scalar& m23, const Scalar& m24, const Scalar& m25,
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const Scalar& m30, const Scalar& m31, const Scalar& m32, const Scalar& m33, const Scalar& m34, const Scalar& m35,
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const Scalar& m40, const Scalar& m41, const Scalar& m42, const Scalar& m43, const Scalar& m44, const Scalar& m45,
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const Scalar& m50, const Scalar& m51, const Scalar& m52, const Scalar& m53, const Scalar& m54, const Scalar& m55
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)
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{
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Base::_check_template_params();
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(*this)
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<< m00, m01, m02, m03, m04, m05
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, m10, m11, m12, m13, m14, m15
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, m20, m21, m22, m23, m24, m25
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, m30, m31, m32, m33, m34, m35
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, m40, m41, m42, m43, m44, m45
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, m50, m51, m52, m53, m54, m55
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;
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}
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void set(
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const Scalar& m00, const Scalar& m01, const Scalar& m02, const Scalar& m03, const Scalar& m04, const Scalar& m05,
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const Scalar& m10, const Scalar& m11, const Scalar& m12, const Scalar& m13, const Scalar& m14, const Scalar& m15,
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const Scalar& m20, const Scalar& m21, const Scalar& m22, const Scalar& m23, const Scalar& m24, const Scalar& m25,
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const Scalar& m30, const Scalar& m31, const Scalar& m32, const Scalar& m33, const Scalar& m34, const Scalar& m35,
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const Scalar& m40, const Scalar& m41, const Scalar& m42, const Scalar& m43, const Scalar& m44, const Scalar& m45,
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const Scalar& m50, const Scalar& m51, const Scalar& m52, const Scalar& m53, const Scalar& m54, const Scalar& m55
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)
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{
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Base::_check_template_params();
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(*this)
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<< m00, m01, m02, m03, m04, m05
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, m10, m11, m12, m13, m14, m15
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, m20, m21, m22, m23, m24, m25
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, m30, m31, m32, m33, m34, m35
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, m40, m41, m42, m43, m44, m45
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, m50, m51, m52, m53, m54, m55
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;
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}
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};
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/* _RBDL_EIGENMATH_H */
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#endif
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