Visual Servoing Platform  version 3.5.1 under development (2022-07-01)
vpEigenConversion.cpp
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31  * Description:
32  * ViSP <--> Eigen conversion.
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34  *****************************************************************************/
35 
36 #include <visp3/core/vpEigenConversion.h>
37 
38 namespace vp
39 {
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(),
46  src.cols()) = src;
47 }
48 
49 void eigen2visp(const Eigen::MatrixXd &src, vpHomogeneousMatrix &dst)
50 {
51  if (src.rows() != 4 || src.cols() != 4) {
52  throw vpException(vpException::dimensionError, "Input Eigen Matrix must be of size (4,4)!");
53  }
54 
55  Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(&dst.data[0], src.rows(),
56  src.cols()) = src;
57 }
58 
59 void eigen2visp(const Eigen::VectorXd &src, vpColVector &dst)
60 {
61  dst.resize(static_cast<unsigned int>(src.rows()));
62 #if (VP_VERSION_INT(EIGEN_WORLD_VERSION, EIGEN_MAJOR_VERSION, EIGEN_MINOR_VERSION) < 0x030300)
63  for (Eigen::DenseIndex i = 0; i < src.rows(); i++) {
64 #else
65  for (Eigen::Index i = 0; i < src.rows(); i++) {
66 #endif
67  dst[static_cast<unsigned int>(i)] = src(i);
68  }
69 }
70 
71 void eigen2visp(const Eigen::RowVectorXd &src, vpRowVector &dst)
72 {
73  dst.resize(static_cast<unsigned int>(src.cols()));
74 #if (VP_VERSION_INT(EIGEN_WORLD_VERSION, EIGEN_MAJOR_VERSION, EIGEN_MINOR_VERSION) < 0x030300)
75  for (Eigen::DenseIndex i = 0; i < src.cols(); i++) {
76 #else
77  for (Eigen::Index i = 0; i < src.cols(); i++) {
78 #endif
79  dst[static_cast<unsigned int>(i)] = src(i);
80  }
81 }
82 
83 void visp2eigen(const vpColVector &src, Eigen::VectorXd &dst) { dst = Eigen::VectorXd::Map(src.data, src.size()); }
84 
85 void visp2eigen(const vpRowVector &src, Eigen::RowVectorXd &dst)
86 {
87  dst = Eigen::RowVectorXd::Map(src.data, src.size());
88 }
89 #endif
90 } // namespace vp
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:306
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:293
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:314
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ dimensionError
Bad dimension.
Definition: vpException.h:95
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:116
void resize(unsigned int i, bool flagNullify=true)
Definition: vpRowVector.h:271
void visp2eigen(const vpMatrix &src, Eigen::MatrixBase< Derived > &dst)
VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst)