30 #ifndef _RL_MATH_PLUECKERTRANSFORM_H_
31 #define _RL_MATH_PLUECKERTRANSFORM_H_
34 #include <Eigen/Geometry>
47 template<
typename Scalar >
51 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
86 res.template topLeftCorner< 3, 3 >() =
rotation().transpose();
88 res.template bottomLeftCorner< 3, 3 >().setZero();
89 res.template bottomRightCorner< 3, 3 >() =
rotation().transpose();
96 res.template topLeftCorner< 3, 3 >() =
rotation().transpose();
97 res.template topRightCorner< 3, 3 >().setZero();
99 res.template bottomRightCorner< 3, 3 >() =
rotation().transpose();
106 res.template topLeftCorner< 3, 3 >() =
rotation();
108 res.template bottomLeftCorner< 3, 3 >().setZero();
109 res.template bottomRightCorner< 3, 3 >() =
rotation();
116 res.template topLeftCorner< 3, 3 >() =
rotation();
117 res.template topRightCorner< 3, 3 >().setZero();
119 res.template bottomRightCorner< 3, 3 >() =
rotation();
123 template<
typename OtherScalar >
126 template<
typename OtherScalar >
137 template<
typename OtherScalar >
140 template<
typename OtherScalar >
143 template<
typename OtherScalar >
146 template<
typename OtherScalar >
149 template<
typename OtherScalar >
152 template<
typename OtherScalar >
202 #endif // _RL_MATH_PLUECKERTRANSFORM_H_