RotMatrix.h

Go to the documentation of this file.

 
#ifndef INCLUDE_ROTMATRIX_H_
#define INCLUDE_ROTMATRIX_H_
 
#include "Types.h"
 
namespace Eigen {
 
class RotationMatrix : public Eigen::Matrix<double,3,3> {
public:
    
    RotationMatrix();
    RotationMatrix(Eigen::Quaterniond q);
 
    // This constructor allows you to construct RotMatrix from Eigen expressions
    template <typename OtherDerived>
    RotationMatrix(const Eigen::MatrixBase<OtherDerived>& other)
        : Eigen::Matrix<double,3,3>(other)
    {
    }
    // This method allows you to assign Eigen expressions to RotMatrix
    template <typename OtherDerived>
    RotationMatrix& operator=(const Eigen::MatrixBase<OtherDerived>& other)
    {
        this->Eigen::Matrix<double,3,3>::operator=(other);
        return *this;
    }
 
    Eigen::Matrix6d CartesianRotationMatrix() const;
 
    rml::EulerRPY ToEulerRPY() const;
 
    Eigen::Quaterniond ToQuaternion() const;
 
    //Computes the integral of a rotation matrix (Out = e^[wdt^] * Rin )
    RotationMatrix StrapDown(const Vector3d& w, double dt) const;
};
}
 
#endif /* INCLUDE_ROTMATRIX_H_ */