Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
vpEigenConversion.h
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31  * Description:
32  * ViSP <--> Eigen conversion.
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34  *****************************************************************************/
35 
36 #ifndef _vpEigenConversion_h_
37 #define _vpEigenConversion_h_
38 
39 #include <visp3/core/vpConfig.h>
40 #ifdef VISP_HAVE_EIGEN3
41 #include <Eigen/Dense>
42 #endif
43 #include <visp3/core/vpMatrix.h>
44 
45 namespace vp
46 {
47 #ifdef VISP_HAVE_EIGEN3
48 /* Eigen to ViSP */
49 VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst);
50 
51 VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpHomogeneousMatrix &dst);
52 
53 template <typename Type> void eigen2visp(const Eigen::Quaternion<Type> &src, vpQuaternionVector &dst)
54 {
55  dst.buildFrom(src.x(), src.y(), src.z(), src.w());
56 }
57 
58 template <typename Type> void eigen2visp(const Eigen::AngleAxis<Type> &src, vpThetaUVector &dst)
59 {
60  dst.buildFrom(src.angle() * src.axis()(0), src.angle() * src.axis()(1), src.angle() * src.axis()(2));
61 }
62 
63 VISP_EXPORT void eigen2visp(const Eigen::VectorXd &src, vpColVector &dst);
64 
65 VISP_EXPORT void eigen2visp(const Eigen::RowVectorXd &src, vpRowVector &dst);
66 
67 /* ViSP to Eigen */
68 template <typename Derived> void visp2eigen(const vpMatrix &src, Eigen::MatrixBase<Derived> &dst)
69 {
70  dst = Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(src.data, src.getRows(),
71  src.getCols());
72 }
73 
74 template <typename Derived> void visp2eigen(const vpHomogeneousMatrix &src, Eigen::MatrixBase<Derived> &dst)
75 {
76  dst = Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(src.data, src.getRows(),
77  src.getCols());
78 }
79 
80 template <typename Type> void visp2eigen(const vpQuaternionVector &src, Eigen::Quaternion<Type> &dst)
81 {
82  dst.w() = static_cast<Type>(src.w());
83  dst.x() = static_cast<Type>(src.x());
84  dst.y() = static_cast<Type>(src.y());
85  dst.z() = static_cast<Type>(src.z());
86 }
87 
88 template <typename Type> void visp2eigen(const vpThetaUVector &src, Eigen::AngleAxis<Type> &dst)
89 {
90  dst.angle() = static_cast<Type>(src.getTheta());
91  dst.axis()(0) = static_cast<Type>(src.getU()[0]);
92  dst.axis()(1) = static_cast<Type>(src.getU()[1]);
93  dst.axis()(2) = static_cast<Type>(src.getU()[2]);
94 }
95 
96 VISP_EXPORT void visp2eigen(const vpColVector &src, Eigen::VectorXd &dst);
97 
98 VISP_EXPORT void visp2eigen(const vpRowVector &src, Eigen::RowVectorXd &dst);
99 #endif
100 } // namespace vp
101 #endif
unsigned int getCols() const
Definition: vpArray2D.h:281
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int getRows() const
Definition: vpArray2D.h:291
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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 a rotation vector as quaternion angle minimal representation.
const double & z() const
Returns the z-component of the quaternion.
const double & x() const
Returns the x-component of the quaternion.
const double & y() const
Returns the y-component of the quaternion.
const double & w() const
Returns the w-component of the quaternion.
vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw)
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:116
Implementation of a rotation vector as axis-angle minimal representation.
vpColVector getU() const
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
double getTheta() const
void visp2eigen(const vpMatrix &src, Eigen::MatrixBase< Derived > &dst)
VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst)