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AngleAxis_8h_source.html
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">// for linear algebra.</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">//</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment">// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr></span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">//</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="preprocessor">#ifndef EIGEN_ANGLEAXIS_H</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="preprocessor">#define EIGEN_ANGLEAXIS_H</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span> </div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="preprocessor">#include "./InternalHeaderCheck.h"</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceEigen.html">Eigen</a> { </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">namespace </span>internal {</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keyword">template</span><<span class="keyword">typename</span> Scalar_> <span class="keyword">struct </span>traits<AngleAxis<Scalar_> ></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span>{</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span>};</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>}</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">template</span><<span class="keyword">typename</span> Scalar_></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html"> 51</a></span><span class="keyword">class </span><a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a> : <span class="keyword">public</span> <a class="code hl_class" href="classEigen_1_1RotationBase.html">RotationBase</a><AngleAxis<Scalar_>,3></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span>{</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">typedef</span> <a class="code hl_class" href="classEigen_1_1RotationBase.html">RotationBase<AngleAxis<Scalar_></a>,3> <a class="code hl_class" href="classEigen_1_1RotationBase.html">Base</a>;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">using </span>Base::operator*;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">enum</span> { Dim = 3 };</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493"> 61</a></span> <span class="keyword">typedef</span> Scalar_ <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">typedef</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">Matrix<Scalar,3,3></a> <a class="code hl_class" href="classEigen_1_1Matrix.html">Matrix3</a>;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">typedef</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">Matrix<Scalar,3,1></a> <a class="code hl_class" href="classEigen_1_1Matrix.html">Vector3</a>;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">typedef</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">Quaternion<Scalar></a> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">Vector3</a> m_axis;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> m_angle;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904"> 74</a></span> EIGEN_DEVICE_FUNC <a class="code hl_function" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">AngleAxis</a>() {}</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> EIGEN_DEVICE_FUNC </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a78b42395c8c42bc24adeac7c53443cf5"> 82</a></span> <span class="keyword">inline</span> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a78b42395c8c42bc24adeac7c53443cf5">AngleAxis</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>& <a class="code hl_function" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>, <span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1MatrixBase.html">MatrixBase<Derived></a>& <a class="code hl_function" href="classEigen_1_1AngleAxis.html#aaba8b1c0aa4582fab6415cb6a9917a02">axis</a>) : m_axis(<a class="code hl_function" href="classEigen_1_1AngleAxis.html#aaba8b1c0aa4582fab6415cb6a9917a02">axis</a>), m_angle(<a class="code hl_function" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>) {}</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">template</span><<span class="keyword">typename</span> QuatDerived> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a388b4ff796a66ec0b13f42efe2d9dd8a"> 87</a></span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a388b4ff796a66ec0b13f42efe2d9dd8a">AngleAxis</a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1QuaternionBase.html">QuaternionBase<QuatDerived></a>& q) { *<span class="keyword">this</span> = q; }</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a85f643674f5e8dcc0917fe7fa599e0fd"> 90</a></span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a85f643674f5e8dcc0917fe7fa599e0fd">AngleAxis</a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1MatrixBase.html">MatrixBase<Derived></a>& m) { *<span class="keyword">this</span> = m; }</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736"> 93</a></span> EIGEN_DEVICE_FUNC <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_angle; }</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a2ed0e8054b5a44e1d2b0d6785ced8c5c"> 95</a></span> EIGEN_DEVICE_FUNC <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>& <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a2ed0e8054b5a44e1d2b0d6785ced8c5c">angle</a>() { <span class="keywordflow">return</span> m_angle; }</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#aaba8b1c0aa4582fab6415cb6a9917a02"> 98</a></span> EIGEN_DEVICE_FUNC <span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">Vector3</a>& <a class="code hl_function" href="classEigen_1_1AngleAxis.html#aaba8b1c0aa4582fab6415cb6a9917a02">axis</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_axis; }</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a330caa044f55ca4fbb77ff6a182b1b60"> 103</a></span> EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1Matrix.html">Vector3</a>& <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a330caa044f55ca4fbb77ff6a182b1b60">axis</a>() { <span class="keywordflow">return</span> m_axis; }</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a1c6afdfc1f129bea9742d01cf1220be2"> 106</a></span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a> <a class="code hl_friend" href="classEigen_1_1AngleAxis.html#acdec7200dd68b70b615bcda9659fed26">operator* </a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a>& other)<span class="keyword"> const</span></div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span><span class="keyword"> </span>{ <span class="keywordflow">return</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>(*<span class="keyword">this</span>) * <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>(other); }</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a0368ebf2e4f3038608acee3794e07764"> 110</a></span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a> <a class="code hl_friend" href="classEigen_1_1AngleAxis.html#acdec7200dd68b70b615bcda9659fed26">operator* </a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>& other)<span class="keyword"> const</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span><span class="keyword"> </span>{ <span class="keywordflow">return</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>(*<span class="keyword">this</span>) * other; }</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#acdec7200dd68b70b615bcda9659fed26"> 114</a></span> <span class="keyword">friend</span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a> <a class="code hl_friend" href="classEigen_1_1AngleAxis.html#acdec7200dd68b70b615bcda9659fed26">operator* </a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>& a, <span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a>& b)</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> { <span class="keywordflow">return</span> a * <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>(b); }</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a8dee3c98ecf3b95498901cfdb5c7911f"> 118</a></span> EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a8dee3c98ecf3b95498901cfdb5c7911f">inverse</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span><span class="keyword"> </span>{ <span class="keywordflow">return</span> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">AngleAxis</a>(-m_angle, m_axis); }</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keyword">template</span><<span class="keyword">class</span> QuatDerived></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a>& operator=(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1QuaternionBase.html">QuaternionBase<QuatDerived></a>& q);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a>& operator=(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1MatrixBase.html">MatrixBase<Derived></a>& m);</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a>& fromRotationMatrix(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1MatrixBase.html">MatrixBase<Derived></a>& m);</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1Matrix.html">Matrix3</a> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46">toRotationMatrix</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keyword">template</span><<span class="keyword">typename</span> NewScalarType></div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a3b5f36f01aabd99b2a3c10f03f04d5f5"> 136</a></span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a3b5f36f01aabd99b2a3c10f03f04d5f5">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="keyword"> </span>{ <span class="keywordflow">return</span> <span class="keyword">typename</span> internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*<span class="keyword">this</span>); }</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">template</span><<span class="keyword">typename</span> OtherScalarType></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a0eb5e6101b98e2e512cd30aaf3e4b141"> 141</a></span> EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#a0eb5e6101b98e2e512cd30aaf3e4b141">AngleAxis</a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<OtherScalarType></a>& other)</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> {</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> m_axis = other.<a class="code hl_function" href="classEigen_1_1AngleAxis.html#aaba8b1c0aa4582fab6415cb6a9917a02">axis</a>().template cast<Scalar>();</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> m_angle = <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(other.<a class="code hl_function" href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">angle</a>());</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> }</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a> Identity() { <span class="keywordflow">return</span> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">AngleAxis</a>(<a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0), Vector3::UnitX()); }</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#acd82611c4fd46fcba522b0ede93f4f79"> 153</a></span> EIGEN_DEVICE_FUNC <span class="keywordtype">bool</span> <a class="code hl_function" href="classEigen_1_1AngleAxis.html#acd82611c4fd46fcba522b0ede93f4f79">isApprox</a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis</a>& other, <span class="keyword">const</span> <span class="keyword">typename</span> NumTraits<Scalar>::Real& prec = <a class="code hl_class" href="structEigen_1_1NumTraits.html">NumTraits<Scalar>::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span><span class="keyword"> </span>{ <span class="keywordflow">return</span> m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span>};</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#gad823b9c674644b14d950fbfe165dfdbf"> 159</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<float></a> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxisf</a>;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="group__Geometry__Module.html#gaed936d6e9192d97f00a9608081fa9b64"> 162</a></span><span class="keyword">typedef</span> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<double></a> <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxisd</a>;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span><span class="keyword">template</span><<span class="keyword">typename</span> Scalar></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span><span class="keyword">template</span><<span class="keyword">typename</span> QuatDerived></div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a41448a040304ae3cc45c35d9d6b6c0e5"> 172</a></span>EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<Scalar></a>& <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<Scalar>::operator=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1QuaternionBase.html">QuaternionBase<QuatDerived></a>& q)</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span>{</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> EIGEN_USING_STD(atan2)</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> EIGEN_USING_STD(abs)</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> n = q.<a class="code hl_function" href="classEigen_1_1QuaternionBase.html#a31ef38b58c714cf1a714c77d6ba236cb">vec</a>().norm();</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordflow">if</span>(n<<a class="code hl_class" href="structEigen_1_1NumTraits.html">NumTraits<Scalar>::epsilon</a>())</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> n = q.<a class="code hl_function" href="classEigen_1_1QuaternionBase.html#a31ef38b58c714cf1a714c77d6ba236cb">vec</a>().stableNorm();</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordflow">if</span> (n != <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0))</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> {</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> m_angle = <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(2)*atan2(n, abs(q.<a class="code hl_function" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>()));</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordflow">if</span>(q.<a class="code hl_function" href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">w</a>() < <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0))</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> n = -n;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> m_axis = q.<a class="code hl_function" href="classEigen_1_1QuaternionBase.html#a31ef38b58c714cf1a714c77d6ba236cb">vec</a>() / n;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> }</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> {</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> m_angle = <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0);</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> m_axis << <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(1), <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0), <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(0);</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> }</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span>}</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span><span class="keyword">template</span><<span class="keyword">typename</span> Scalar></div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span><span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#ae4c210cc8a1cc2c41d46c48a4dc7c8ec"> 199</a></span>EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<Scalar></a>& <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<Scalar>::operator=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1MatrixBase.html">MatrixBase<Derived></a>& mat)</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span>{</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="comment">// Since a direct conversion would not be really faster,</span></div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="comment">// let's use the robust Quaternion implementation:</span></div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordflow">return</span> *<span class="keyword">this</span> = <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>(mat);</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span>}</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span><span class="keyword">template</span><<span class="keyword">typename</span> Scalar></div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span><span class="keyword">template</span><<span class="keyword">typename</span> Derived></div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#a97bfb0c921d200d769fca7ce6a650c59"> 211</a></span>EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<Scalar></a>& <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<Scalar>::fromRotationMatrix</a>(<span class="keyword">const</span> <a class="code hl_class" href="classEigen_1_1MatrixBase.html">MatrixBase<Derived></a>& mat)</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span>{</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordflow">return</span> *<span class="keyword">this</span> = <a class="code hl_class" href="classEigen_1_1Quaternion.html">QuaternionType</a>(mat);</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span>}</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span><span class="keyword">template</span><<span class="keyword">typename</span> Scalar></div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span><span class="keyword">typename</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">AngleAxis<Scalar>::Matrix3</a></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"><a class="line" href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46"> 220</a></span>EIGEN_DEVICE_FUNC <a class="code hl_class" href="classEigen_1_1AngleAxis.html">AngleAxis<Scalar>::toRotationMatrix</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span></div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> EIGEN_USING_STD(sin)</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> EIGEN_USING_STD(cos)</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">Matrix3</a> res;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">Vector3</a> sin_axis = sin(m_angle) * m_axis;</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> c = cos(m_angle);</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <a class="code hl_class" href="classEigen_1_1Matrix.html">Vector3</a> cos1_axis = (<a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a>(1)-c) * m_axis;</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> </div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <a class="code hl_typedef" href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Scalar</a> tmp;</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> tmp = cos1_axis.x() * m_axis.y();</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> res.<a class="code hl_function" href="classEigen_1_1Matrix.html#ae85597963bd263f97437a7f0581b63fb">coeffRef</a>(0,1) = tmp - sin_axis.z();</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> res.<a class="code hl_function" href="classEigen_1_1Matrix.html#ae85597963bd263f97437a7f0581b63fb">coeffRef</a>(1,0) = tmp + sin_axis.z();</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> tmp = cos1_axis.x() * m_axis.z();</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> res.<a class="code hl_function" href="classEigen_1_1Matrix.html#ae85597963bd263f97437a7f0581b63fb">coeffRef</a>(0,2) = tmp + sin_axis.y();</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> res.<a class="code hl_function" href="classEigen_1_1Matrix.html#ae85597963bd263f97437a7f0581b63fb">coeffRef</a>(2,0) = tmp - sin_axis.y();</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> </div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> tmp = cos1_axis.y() * m_axis.z();</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> res.<a class="code hl_function" href="classEigen_1_1Matrix.html#ae85597963bd263f97437a7f0581b63fb">coeffRef</a>(1,2) = tmp - sin_axis.x();</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> res.<a class="code hl_function" href="classEigen_1_1Matrix.html#ae85597963bd263f97437a7f0581b63fb">coeffRef</a>(2,1) = tmp + sin_axis.x();</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> </div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> res.diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> </div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordflow">return</span> res;</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span>}</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span>} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span><span class="preprocessor">#endif </span><span class="comment">// EIGEN_ANGLEAXIS_H</span></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html"><div class="ttname"><a href="classEigen_1_1AngleAxis.html">Eigen::AngleAxis</a></div><div class="ttdoc">Represents a 3D rotation as a rotation angle around an arbitrary 3D axis.</div><div class="ttdef"><b>Definition</b> AngleAxis.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a0eb5e6101b98e2e512cd30aaf3e4b141"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a0eb5e6101b98e2e512cd30aaf3e4b141">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const AngleAxis< OtherScalarType > &other)</div><div class="ttdef"><b>Definition</b> AngleAxis.h:141</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a19d36a44174a4053bc16dbb16f02c493"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a19d36a44174a4053bc16dbb16f02c493">Eigen::AngleAxis::Scalar</a></div><div class="ttdeci">Scalar_ Scalar</div><div class="ttdef"><b>Definition</b> AngleAxis.h:61</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a2ed0e8054b5a44e1d2b0d6785ced8c5c"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a2ed0e8054b5a44e1d2b0d6785ced8c5c">Eigen::AngleAxis::angle</a></div><div class="ttdeci">Scalar & angle()</div><div class="ttdef"><b>Definition</b> AngleAxis.h:95</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a330caa044f55ca4fbb77ff6a182b1b60"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a330caa044f55ca4fbb77ff6a182b1b60">Eigen::AngleAxis::axis</a></div><div class="ttdeci">Vector3 & axis()</div><div class="ttdef"><b>Definition</b> AngleAxis.h:103</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a388b4ff796a66ec0b13f42efe2d9dd8a"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a388b4ff796a66ec0b13f42efe2d9dd8a">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const QuaternionBase< QuatDerived > &q)</div><div class="ttdef"><b>Definition</b> AngleAxis.h:87</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a3b5f36f01aabd99b2a3c10f03f04d5f5"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a3b5f36f01aabd99b2a3c10f03f04d5f5">Eigen::AngleAxis::cast</a></div><div class="ttdeci">internal::cast_return_type< AngleAxis, AngleAxis< NewScalarType > >::type cast() const</div><div class="ttdef"><b>Definition</b> AngleAxis.h:136</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a78b42395c8c42bc24adeac7c53443cf5"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a78b42395c8c42bc24adeac7c53443cf5">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const Scalar &angle, const MatrixBase< Derived > &axis)</div><div class="ttdef"><b>Definition</b> AngleAxis.h:82</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a85f643674f5e8dcc0917fe7fa599e0fd"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a85f643674f5e8dcc0917fe7fa599e0fd">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis(const MatrixBase< Derived > &m)</div><div class="ttdef"><b>Definition</b> AngleAxis.h:90</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_a8dee3c98ecf3b95498901cfdb5c7911f"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#a8dee3c98ecf3b95498901cfdb5c7911f">Eigen::AngleAxis::inverse</a></div><div class="ttdeci">AngleAxis inverse() const</div><div class="ttdef"><b>Definition</b> AngleAxis.h:118</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_aaba8b1c0aa4582fab6415cb6a9917a02"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#aaba8b1c0aa4582fab6415cb6a9917a02">Eigen::AngleAxis::axis</a></div><div class="ttdeci">const Vector3 & axis() const</div><div class="ttdef"><b>Definition</b> AngleAxis.h:98</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_ab4a1ad0b14eca9778f6431c2fc4b0904"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#ab4a1ad0b14eca9778f6431c2fc4b0904">Eigen::AngleAxis::AngleAxis</a></div><div class="ttdeci">AngleAxis()</div><div class="ttdef"><b>Definition</b> AngleAxis.h:74</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_acd82611c4fd46fcba522b0ede93f4f79"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#acd82611c4fd46fcba522b0ede93f4f79">Eigen::AngleAxis::isApprox</a></div><div class="ttdeci">bool isApprox(const AngleAxis &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const</div><div class="ttdef"><b>Definition</b> AngleAxis.h:153</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_acdec7200dd68b70b615bcda9659fed26"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#acdec7200dd68b70b615bcda9659fed26">Eigen::AngleAxis::operator*</a></div><div class="ttdeci">friend QuaternionType operator*(const QuaternionType &a, const AngleAxis &b)</div><div class="ttdef"><b>Definition</b> AngleAxis.h:114</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_ad333c1b13aa0fa01d7fab30f18d2cd46"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#ad333c1b13aa0fa01d7fab30f18d2cd46">Eigen::AngleAxis::toRotationMatrix</a></div><div class="ttdeci">Matrix3 toRotationMatrix(void) const</div><div class="ttdef"><b>Definition</b> AngleAxis.h:220</div></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html_ad933b9ba0c40224b7ded9a313396c736"><div class="ttname"><a href="classEigen_1_1AngleAxis.html#ad933b9ba0c40224b7ded9a313396c736">Eigen::AngleAxis::angle</a></div><div class="ttdeci">Scalar angle() const</div><div class="ttdef"><b>Definition</b> AngleAxis.h:93</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html"><div class="ttname"><a href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a></div><div class="ttdoc">Base class for all dense matrices, vectors, and expressions.</div><div class="ttdef"><b>Definition</b> MatrixBase.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix</a></div><div class="ttdoc">The matrix class, also used for vectors and row-vectors.</div><div class="ttdef"><b>Definition</b> Matrix.h:182</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html_ae85597963bd263f97437a7f0581b63fb"><div class="ttname"><a href="classEigen_1_1Matrix.html#ae85597963bd263f97437a7f0581b63fb">Eigen::Matrix::coeffRef</a></div><div class="ttdeci">constexpr Scalar & coeffRef(Index rowId, Index colId)</div><div class="ttdef"><b>Definition</b> PlainObjectBase.h:198</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html">Eigen::QuaternionBase</a></div><div class="ttdoc">Base class for quaternion expressions.</div><div class="ttdef"><b>Definition</b> Quaternion.h:38</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_a31ef38b58c714cf1a714c77d6ba236cb"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#a31ef38b58c714cf1a714c77d6ba236cb">Eigen::QuaternionBase::vec</a></div><div class="ttdeci">const VectorBlock< const Coefficients, 3 > vec() const</div><div class="ttdef"><b>Definition</b> Quaternion.h:86</div></div>
<div class="ttc" id="aclassEigen_1_1QuaternionBase_html_ab5eae91bedac0afaab0074cec5e535bc"><div class="ttname"><a href="classEigen_1_1QuaternionBase.html#ab5eae91bedac0afaab0074cec5e535bc">Eigen::QuaternionBase::w</a></div><div class="ttdeci">CoeffReturnType w() const</div><div class="ttdef"><b>Definition</b> Quaternion.h:74</div></div>
<div class="ttc" id="aclassEigen_1_1Quaternion_html"><div class="ttname"><a href="classEigen_1_1Quaternion.html">Eigen::Quaternion</a></div><div class="ttdoc">The quaternion class used to represent 3D orientations and rotations.</div><div class="ttdef"><b>Definition</b> Quaternion.h:276</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html"><div class="ttname"><a href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a></div><div class="ttdoc">Common base class for compact rotation representations.</div><div class="ttdef"><b>Definition</b> RotationBase.h:32</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div><div class="ttdef"><b>Definition</b> Core:139</div></div>
<div class="ttc" id="astructEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen.</div><div class="ttdef"><b>Definition</b> NumTraits.h:231</div></div>
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