Common base class for compact rotation representations. More...
Public Types | |
enum | { Dim } |
typedef Matrix< Scalar, Dim, Dim > | RotationMatrixType |
typedef ei_traits< Derived > ::Scalar | Scalar |
Public Member Functions | |
const Derived & | derived () const |
Derived & | derived () |
Derived | inverse () const |
Transform< Scalar, Dim > | operator* (const Translation< Scalar, Dim > &t) const |
RotationMatrixType | operator* (const Scaling< Scalar, Dim > &s) const |
Transform< Scalar, Dim > | operator* (const Transform< Scalar, Dim > &t) const |
RotationMatrixType | toRotationMatrix () const |
Common base class for compact rotation representations.
Derived | is the derived type, i.e., a rotation type |
_Dim | the dimension of the space |
typedef Matrix<Scalar,Dim,Dim> RotationMatrixType |
corresponding linear transformation matrix type
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*this
with a translation t
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*this
with a scaling s *this
with an affine transformation t
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