Visual Servoing Platform  version 3.6.1 under development (2024-06-12)
vpEigenConversion.h
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29  *
30  * Description:
31  * ViSP <--> Eigen conversion.
32  */
33 
34 #ifndef _vpEigenConversion_h_
35 #define _vpEigenConversion_h_
36 
37 #include <visp3/core/vpConfig.h>
38 #ifdef VISP_HAVE_EIGEN3
39 #include <Eigen/Dense>
40 #endif
41 #include <visp3/core/vpMatrix.h>
42 
44 {
45 #ifdef VISP_HAVE_EIGEN3
46 /* Eigen to ViSP */
47 VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, VISP_NAMESPACE_ADDRESSING vpMatrix &dst);
48 
49 VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, VISP_NAMESPACE_ADDRESSING vpHomogeneousMatrix &dst);
50 
51 template <typename Type> void eigen2visp(const Eigen::Quaternion<Type> &src, VISP_NAMESPACE_ADDRESSING vpQuaternionVector &dst)
52 {
53  dst.build(src.x(), src.y(), src.z(), src.w());
54 }
55 
56 template <typename Type> void eigen2visp(const Eigen::AngleAxis<Type> &src, VISP_NAMESPACE_ADDRESSING vpThetaUVector &dst)
57 {
58  dst.build(src.angle() * src.axis()(0), src.angle() * src.axis()(1), src.angle() * src.axis()(2));
59 }
60 
61 VISP_EXPORT void eigen2visp(const Eigen::VectorXd &src, VISP_NAMESPACE_ADDRESSING vpColVector &dst);
62 
63 VISP_EXPORT void eigen2visp(const Eigen::RowVectorXd &src, VISP_NAMESPACE_ADDRESSING vpRowVector &dst);
64 
65 /* ViSP to Eigen */
66 template <typename Derived> void visp2eigen(const VISP_NAMESPACE_ADDRESSING vpMatrix &src, Eigen::MatrixBase<Derived> &dst)
67 {
68  dst = Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(src.data, src.getRows(),
69  src.getCols());
70 }
71 
72 template <typename Derived> void visp2eigen(const VISP_NAMESPACE_ADDRESSING vpHomogeneousMatrix &src, Eigen::MatrixBase<Derived> &dst)
73 {
74  dst = Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(src.data, src.getRows(),
75  src.getCols());
76 }
77 
78 template <typename Type> void visp2eigen(const VISP_NAMESPACE_ADDRESSING vpQuaternionVector &src, Eigen::Quaternion<Type> &dst)
79 {
80  dst.w() = static_cast<Type>(src.w());
81  dst.x() = static_cast<Type>(src.x());
82  dst.y() = static_cast<Type>(src.y());
83  dst.z() = static_cast<Type>(src.z());
84 }
85 
86 template <typename Type> void visp2eigen(const VISP_NAMESPACE_ADDRESSING vpThetaUVector &src, Eigen::AngleAxis<Type> &dst)
87 {
88  dst.angle() = static_cast<Type>(src.getTheta());
89  dst.axis()(0) = static_cast<Type>(src.getU()[0]);
90  dst.axis()(1) = static_cast<Type>(src.getU()[1]);
91  dst.axis()(2) = static_cast<Type>(src.getU()[2]);
92 }
93 
94 VISP_EXPORT void visp2eigen(const VISP_NAMESPACE_ADDRESSING vpColVector &src, Eigen::VectorXd &dst);
95 
96 VISP_EXPORT void visp2eigen(const VISP_NAMESPACE_ADDRESSING vpRowVector &src, Eigen::RowVectorXd &dst);
97 #endif
98 } // namespace VISP_NAMESPACE_NAME
99 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:110
Implementation of a rotation vector as axis-angle minimal representation.
void visp2eigen(const VISP_NAMESPACE_ADDRESSING vpMatrix &src, Eigen::MatrixBase< Derived > &dst)
VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, VISP_NAMESPACE_ADDRESSING vpMatrix &dst)