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 Eigen  3.3.9
Eigen::RotationBase< Derived, _Dim > Class Template Reference

## Detailed Description

### template<typename Derived, int _Dim> class Eigen::RotationBase< Derived, _Dim >

Common base class for compact rotation representations.

Template Parameters
 Derived is the derived type, i.e., a rotation type _Dim the dimension of the space

## Public Types

typedef Matrix< Scalar, Dim, Dim > RotationMatrixType

typedef internal::traits< Derived >::Scalar Scalar

## Public Member Functions

Derived inverse () const

RotationMatrixType matrix () const

template<typename OtherDerived >
internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType operator* (const EigenBase< OtherDerived > &e) const

template<int Mode, int Options>
Transform< Scalar, Dim, Mode > operator* (const Transform< Scalar, Dim, Mode, Options > &t) const

Transform< Scalar, Dim, Isometryoperator* (const Translation< Scalar, Dim > &t) const

RotationMatrixType operator* (const UniformScaling< Scalar > &s) const

RotationMatrixType toRotationMatrix () const

## ◆ RotationMatrixType

template<typename Derived , int _Dim>
 typedef Matrix Eigen::RotationBase< Derived, _Dim >::RotationMatrixType

corresponding linear transformation matrix type

## ◆ Scalar

template<typename Derived , int _Dim>
 typedef internal::traits::Scalar Eigen::RotationBase< Derived, _Dim >::Scalar

the scalar type of the coefficients

## ◆ inverse()

template<typename Derived , int _Dim>
 Derived Eigen::RotationBase< Derived, _Dim >::inverse ( ) const
inline
Returns
the inverse rotation

## ◆ matrix()

template<typename Derived , int _Dim>
 RotationMatrixType Eigen::RotationBase< Derived, _Dim >::matrix ( ) const
inline
Returns
an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

## ◆ operator*() [1/4]

template<typename Derived , int _Dim>
template<typename OtherDerived >
 internal::rotation_base_generic_product_selector::ReturnType Eigen::RotationBase< Derived, _Dim >::operator* ( const EigenBase< OtherDerived > & e ) const
inline
Returns
the concatenation of the rotation *this with a generic expression e e can be:
• a DimxDim linear transformation matrix
• a DimxDim diagonal matrix (axis aligned scaling)
• a vector of size Dim

## ◆ operator*() [2/4]

template<typename Derived , int _Dim>
template<int Mode, int Options>
 Transform Eigen::RotationBase< Derived, _Dim >::operator* ( const Transform< Scalar, Dim, Mode, Options > & t ) const
inline
Returns
the concatenation of the rotation *this with a transformation t

## ◆ operator*() [3/4]

template<typename Derived , int _Dim>
 Transform Eigen::RotationBase< Derived, _Dim >::operator* ( const Translation< Scalar, Dim > & t ) const
inline
Returns
the concatenation of the rotation *this with a translation t

## ◆ operator*() [4/4]

template<typename Derived , int _Dim>
 RotationMatrixType Eigen::RotationBase< Derived, _Dim >::operator* ( const UniformScaling< Scalar > & s ) const
inline
Returns
the concatenation of the rotation *this with a uniform scaling s

## ◆ toRotationMatrix()

template<typename Derived , int _Dim>
 RotationMatrixType Eigen::RotationBase< Derived, _Dim >::toRotationMatrix ( void ) const
inline
Returns
an equivalent rotation matrix

The documentation for this class was generated from the following file: