TransfMatrix.h

Go to the documentation of this file.

 
#ifndef INCLUDE_TransformationMatrix_H_
#define INCLUDE_TransformationMatrix_H_
 
#include "Types.h"
 
namespace Eigen {
 
class TransformationMatrix : public Eigen::Matrix4d {
public:
    TransformationMatrix(void);
 
    // This constructor allows you to construct TransformationMatrix from Eigen expressions
    template <typename OtherDerived>
    TransformationMatrix(const Eigen::MatrixBase<OtherDerived>& other)
        : Eigen::Matrix4d(other)
    {
    }
    // This method allows you to assign Eigen expressions to TransformationMatrix
    template <typename OtherDerived>
    TransformationMatrix& operator=(const Eigen::MatrixBase<OtherDerived>& other)
    {
        this->Eigen::Matrix4d::operator=(other);
        return *this;
    }
 
    Eigen::RotationMatrix RotationMatrix() const;
 
    void RotationMatrix(const Eigen::RotationMatrix rotationMatrix);
 
    auto TranslationVector() const -> const Vector3d { return this->block(0, 3, 3, 1); }
 
    auto TranslationVector(const Vector3d translationVector) -> void { this->block(0, 3, 3, 1) = translationVector; }
 
    Vector6d ToVector() const;
 
    TransformationMatrix Integral(const Vector6d& inputVelocities, double dt) const;
};
}
 
#endif /* INCLUDE_TransformationMatrix_H_ */