Visual Servoing Platform version 3.6.0
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vpEigenConversion.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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
43namespace vp
44{
45#ifdef VISP_HAVE_EIGEN3
46/* Eigen to ViSP */
47VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst);
48
49VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpHomogeneousMatrix &dst);
50
51template <typename Type> void eigen2visp(const Eigen::Quaternion<Type> &src, vpQuaternionVector &dst)
52{
53 dst.buildFrom(src.x(), src.y(), src.z(), src.w());
54}
55
56template <typename Type> void eigen2visp(const Eigen::AngleAxis<Type> &src, vpThetaUVector &dst)
57{
58 dst.buildFrom(src.angle() * src.axis()(0), src.angle() * src.axis()(1), src.angle() * src.axis()(2));
59}
60
61VISP_EXPORT void eigen2visp(const Eigen::VectorXd &src, vpColVector &dst);
62
63VISP_EXPORT void eigen2visp(const Eigen::RowVectorXd &src, vpRowVector &dst);
64
65/* ViSP to Eigen */
66template <typename Derived> void visp2eigen(const 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
72template <typename Derived> void visp2eigen(const 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
78template <typename Type> void visp2eigen(const 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
86template <typename Type> void visp2eigen(const 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
94VISP_EXPORT void visp2eigen(const vpColVector &src, Eigen::VectorXd &dst);
95
96VISP_EXPORT void visp2eigen(const vpRowVector &src, Eigen::RowVectorXd &dst);
97#endif
98} // namespace vp
99#endif
unsigned int getCols() const
Definition vpArray2D.h:280
Type * data
Address of the first element of the data array.
Definition vpArray2D.h:144
unsigned int getRows() const
Definition vpArray2D.h:290
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of a rotation vector as quaternion angle minimal representation.
const double & z() const
Returns the z-component of the quaternion.
const double & x() const
Returns the x-component of the quaternion.
const double & y() const
Returns the y-component of the quaternion.
const double & w() const
Returns the w-component of the quaternion.
vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw)
Implementation of row vector and the associated operations.
Implementation of a rotation vector as axis-angle minimal representation.
vpColVector getU() const
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)
double getTheta() const
void visp2eigen(const vpMatrix &src, Eigen::MatrixBase< Derived > &dst)
VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst)