File size: 4,124 Bytes
fe2b563 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 |
#ifndef TYPES_H
#define TYPES_H
#include <eigen/Eigen/Dense>
#ifdef USE_FLOAT_SCALAR
typedef float Scalar
#else
typedef double Scalar;
#endif
#ifdef EIGEN_DONT_ALIGN
#define EIGEN_ALIGNMENT Eigen::DontAlign
#else
#define EIGEN_ALIGNMENT Eigen::AutoAlign
#endif
template < int Rows, int Cols, int Options = (Eigen::ColMajor | EIGEN_ALIGNMENT) >
using MatrixT = Eigen::Matrix<Scalar, Rows, Cols, Options>; ///< A typedef of the dense matrix of Eigen.
typedef MatrixT<2, 1> Vector2; ///< A 2d column vector.
typedef MatrixT<2, 2> Matrix22; ///< A 2 by 2 matrix.
typedef MatrixT<2, 3> Matrix23; ///< A 2 by 3 matrix.
typedef MatrixT<3, 1> Vector3; ///< A 3d column vector.
typedef MatrixT<3, 2> Matrix32; ///< A 3 by 2 matrix.
typedef MatrixT<3, 3> Matrix33; ///< A 3 by 3 matrix.
typedef MatrixT<3, 4> Matrix34; ///< A 3 by 4 matrix.
typedef MatrixT<4, 1> Vector4; ///< A 4d column vector.
typedef MatrixT<4, 4> Matrix44; ///< A 4 by 4 matrix.
typedef MatrixT<4, Eigen::Dynamic> Matrix4X; ///< A 4 by n matrix.
typedef MatrixT<3, Eigen::Dynamic> Matrix3X; ///< A 3 by n matrix.
typedef MatrixT<Eigen::Dynamic, 3> MatrixX3; ///< A n by 3 matrix.
typedef MatrixT<2, Eigen::Dynamic> Matrix2X; ///< A 2 by n matrix.
typedef MatrixT<Eigen::Dynamic, 2> MatrixX2; ///< A n by 2 matrix.
typedef MatrixT<Eigen::Dynamic, 1> VectorX; ///< A nd column vector.
typedef MatrixT<Eigen::Dynamic, Eigen::Dynamic> MatrixXX; ///< A n by m matrix.
typedef Eigen::Matrix<Scalar, 12, 12, 0, 12, 12> EigenMatrix12;
// eigen quaternions
typedef Eigen::AngleAxis<Scalar> EigenAngleAxis;
typedef Eigen::Quaternion<Scalar, Eigen::DontAlign> EigenQuaternion;
// Conversion between a 3d vector type to Eigen::Vector3d
template<typename Vec_T>
inline Vector3 to_eigen_vec3(const Vec_T &vec)
{
return Vector3(vec[0], vec[1], vec[2]);
}
template<typename Vec_T>
inline Vec_T from_eigen_vec3(const Vector3 &vec)
{
Vec_T v;
v[0] = vec(0);
v[1] = vec(1);
v[2] = vec(2);
return v;
}
class Matrix3333 // 3x3 matrix: each element is a 3x3 matrix
{
public:
Matrix3333();
Matrix3333(const Matrix3333& other);
~Matrix3333() {}
void SetZero(); // [0 0 0; 0 0 0; 0 0 0]; 0 = 3x3 zeros
void SetIdentity(); //[I 0 0; 0 I 0; 0 0 I]; 0 = 3x3 zeros, I = 3x3 identity
// operators
Matrix33& operator() (int row, int col);
Matrix3333 operator+ (const Matrix3333& plus);
Matrix3333 operator- (const Matrix3333& minus);
Matrix3333 operator* (const Matrix33& multi);
friend Matrix3333 operator* (const Matrix33& multi1, Matrix3333& multi2);
Matrix3333 operator* (Scalar multi);
friend Matrix3333 operator* (Scalar multi1, Matrix3333& multi2);
Matrix3333 transpose();
Matrix33 Contract(const Matrix33& multi); // this operator is commutative
Matrix3333 Contract(Matrix3333& multi);
//protected:
Matrix33 mat[3][3];
};
class Matrix2222 // 2x2 matrix: each element is a 2x2 matrix
{
public:
Matrix2222();
Matrix2222(const Matrix2222& other);
~Matrix2222() {}
void SetZero(); // [0 0; 0 0]; 0 = 2x2 zeros
void SetIdentity(); //[I 0; 0 I;]; 0 = 2x2 zeros, I = 2x2 identity
// operators and basic functions
Matrix22& operator() (int row, int col);
Matrix2222 operator+ (const Matrix2222& plus);
Matrix2222 operator- (const Matrix2222& minus);
Matrix2222 operator* (const Matrix22& multi);
friend Matrix2222 operator* (const Matrix22& multi1, Matrix2222& multi2);
Matrix2222 operator* (Scalar multi);
friend Matrix2222 operator* (Scalar multi1, Matrix2222& multi2);
Matrix2222 transpose();
Matrix22 Contract(const Matrix22& multi); // this operator is commutative
Matrix2222 Contract(Matrix2222& multi);
protected:
Matrix22 mat[2][2];
};
// dst = src1 \kron src2
void directProduct(Matrix3333& dst, const Matrix33& src1, const Matrix33& src2);
void directProduct(Matrix2222& dst, const Matrix22& src1, const Matrix22& src2);
#endif // TYPES_H
///////////////////////////////////////////////////////////////////////////////
|