Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpEigenConversion.h
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30  *
31  * Description:
32  * ViSP <--> Eigen conversion.
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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 #ifdef VISP_HAVE_EIGEN3
47 /* Eigen to ViSP */
48 VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst);
49 
50 VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpHomogeneousMatrix &dst);
51 
52 template<typename Type>
53 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>
59 void eigen2visp(const Eigen::AngleAxis<Type> &src, vpThetaUVector &dst)
60 {
61  dst.buildFrom(src.angle() * src.axis()(0), src.angle() * src.axis()(1), src.angle() * src.axis()(2));
62 }
63 
64 VISP_EXPORT void eigen2visp(const Eigen::VectorXd &src, vpColVector &dst);
65 
66 VISP_EXPORT void eigen2visp(const Eigen::RowVectorXd &src, vpRowVector &dst);
67 
68 /* ViSP to Eigen */
69 template<typename Derived>
70 void visp2eigen(const vpMatrix &src, Eigen::MatrixBase<Derived> &dst)
71 {
72  dst = Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(src.data, src.getRows(), src.getCols());
73 }
74 
75 template<typename Derived>
76 void visp2eigen(const vpHomogeneousMatrix &src, Eigen::MatrixBase<Derived> &dst)
77 {
78  dst = Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(src.data, src.getRows(), src.getCols());
79 }
80 
81 template<typename Type>
82 void visp2eigen(const vpQuaternionVector &src, Eigen::Quaternion<Type> &dst)
83 {
84  dst.w() = static_cast<Type>(src.w());
85  dst.x() = static_cast<Type>(src.x());
86  dst.y() = static_cast<Type>(src.y());
87  dst.z() = static_cast<Type>(src.z());
88 }
89 
90 template<typename Type>
91 void visp2eigen(const vpThetaUVector &src, Eigen::AngleAxis<Type> &dst)
92 {
93  dst.angle() = static_cast<Type>(src.getTheta());
94  dst.axis()(0) = static_cast<Type>(src.getU()[0]);
95  dst.axis()(1) = static_cast<Type>(src.getU()[1]);
96  dst.axis()(2) = static_cast<Type>(src.getU()[2]);
97 }
98 
99 VISP_EXPORT void visp2eigen(const vpColVector &src, Eigen::VectorXd &dst);
100 
101 VISP_EXPORT void visp2eigen(const vpRowVector &src, Eigen::RowVectorXd &dst);
102 #endif
103 }
104 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
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
vpColVector getU() const
double y() const
Returns y-component of the quaternion.
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw)
unsigned int getCols() const
Definition: vpArray2D.h:279
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
double w() const
Returns w-component of the quaternion.
double z() const
Returns z-component of the quaternion.
double x() const
Returns x-component of the quaternion.
Implementation of a rotation vector as quaternion angle minimal representation.
unsigned int getRows() const
Definition: vpArray2D.h:289
void visp2eigen(const vpMatrix &src, Eigen::MatrixBase< Derived > &dst)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double getTheta() const
Implementation of a rotation vector as axis-angle minimal representation.