Eigen Namespace Reference

This namespace is used to extend the Eigen Dense library functionalities. More...

Classes
class	RotationMatrix
	This class extends the Eigen::Matrix3d. More...
class	TransformationMatrix
	This class extends the Eigen::Matrix4d. More...
class	Vector6d
	A 6d vector generally used for containing pose [x y z r p y] or velocity [vx vy vz wx wy wz] vectors. More...

Typedefs
typedef Eigen::Matrix< double, 6, 6 >	Matrix6d
typedef Eigen::Matrix< double, 6, 1 >	Vector6dBase

Detailed Description

This namespace is used to extend the Eigen Dense library functionalities.

In order to maintain uniformity with the eigen library, the extensions of it have been included in the Eigen namespace. In particular the additions regard the definition of the following types:

1. Eigen::RotMatrix: represents a cartesian rotation matrix. Is an extension of the Matrix3d class that defaults the constructor to an identity matrix, with the addition of member functions to convert to different representations.
2. Eigen::TransfMatrix:: represents an homogeneous transformation matrix an extension of the Matrix4d class that defaults the constructor to an identity matrix, with the addition of member functions to convert do different representations, set and extract rotation and translational parts of it separately (rot and transl parts).

Note

Full Eigen documentation can be found at http://eigen.tuxfamily.org/dox/index.html.

Typedef Documentation

Matrix6d

typedef Eigen::Matrix<double, 6, 6> Eigen::Matrix6d

Vector6dBase

typedef Eigen::Matrix<double, 6, 1> Eigen::Vector6dBase