Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpEigenConversion.cpp
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31  * Description:
32  * ViSP <--> Eigen conversion.
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34  *****************************************************************************/
35 
36 
37 #include <visp3/core/vpEigenConversion.h>
38 
39 namespace vp {
40 #ifdef VISP_HAVE_EIGEN3
41 /* Eigen to ViSP */
42 void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst)
43 {
44  dst.resize(static_cast<unsigned int>(src.rows()), static_cast<unsigned int>(src.cols()), false, false);
45  Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(&dst.data[0], src.rows(), src.cols()) = src;
46 }
47 
48 void eigen2visp(const Eigen::MatrixXd &src, vpHomogeneousMatrix &dst)
49 {
50  if (src.rows() != 4 || src.cols() != 4) {
51  throw vpException(vpException::dimensionError, "Input Eigen Matrix must be of size (4,4)!");
52  }
53 
54  Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(&dst.data[0], src.rows(), src.cols()) = src;
55 }
56 
57 void eigen2visp(const Eigen::VectorXd &src, vpColVector &dst)
58 {
59  dst.resize(static_cast<unsigned int>(src.rows()));
60 #if (VP_VERSION_INT(EIGEN_WORLD_VERSION, EIGEN_MAJOR_VERSION, EIGEN_MINOR_VERSION) < 0x030300)
61  for (Eigen::DenseIndex i = 0; i < src.rows(); i++) {
62 #else
63  for (Eigen::Index i = 0; i < src.rows(); i++) {
64 #endif
65  dst[static_cast<unsigned int>(i)] = src(i);
66  }
67 }
68 
69 void eigen2visp(const Eigen::RowVectorXd &src, vpRowVector &dst)
70 {
71  dst.resize(static_cast<unsigned int>(src.cols()));
72 #if (VP_VERSION_INT(EIGEN_WORLD_VERSION, EIGEN_MAJOR_VERSION, EIGEN_MINOR_VERSION) < 0x030300)
73  for (Eigen::DenseIndex i = 0; i < src.cols(); i++) {
74 #else
75  for (Eigen::Index i = 0; i < src.cols(); i++) {
76 #endif
77  dst[static_cast<unsigned int>(i)] = src(i);
78  }
79 }
80 
81 void visp2eigen(const vpColVector &src, Eigen::VectorXd &dst)
82 {
83  dst = Eigen::VectorXd::Map(src.data, src.size());
84 }
85 
86 void visp2eigen(const vpRowVector &src, Eigen::RowVectorXd &dst)
87 {
88  dst = Eigen::RowVectorXd::Map(src.data, src.size());
89 }
90 #endif
91 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:304
VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:115
error that can be emited by ViSP classes.
Definition: vpException.h:71
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
void visp2eigen(const vpMatrix &src, Eigen::MatrixBase< Derived > &dst)
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void resize(unsigned int i, bool flagNullify=true)
Definition: vpRowVector.h:271