18 #ifndef IGNITION_PHYSICS_GEOMETRY_HH_ 19 #define IGNITION_PHYSICS_GEOMETRY_HH_ 21 #include <Eigen/Geometry> 23 #define DETAIL_IGN_PHYSICS_MAKE_BOTH_PRECISIONS(Type, Dim) \ 24 using Type ## Dim ## d = Type<double, Dim>; \ 25 using Type ## Dim ## f = Type<float, Dim>; 32 #define IGN_PHYSICS_MAKE_ALL_TYPE_COMBOS(Type) \ 33 DETAIL_IGN_PHYSICS_MAKE_BOTH_PRECISIONS(Type, 2) \ 34 DETAIL_IGN_PHYSICS_MAKE_BOTH_PRECISIONS(Type, 3) 43 template <
typename Scalar, std::
size_t Dim>
44 using Pose = Eigen::Transform<Scalar, Dim, Eigen::Isometry>;
47 template <
typename Scalar, std::
size_t Dim>
48 using Vector = Eigen::Matrix<Scalar, Dim, 1>;
51 template <
typename Scalar, std::
size_t Dim>
55 template <
typename Scalar, std::
size_t Dim>
59 template <
typename Scalar, std::
size_t Dim>
67 template <
typename Scalar, std::
size_t Dim>
72 template <
typename PolicyT>
79 using Scalar =
typename PolicyT::Scalar;
80 enum { Dim = PolicyT::Dim };
82 template<
template <
typename, std::
size_t>
class Type>
83 using Use = Type<Scalar, Dim>;
86 template<
typename Scalar>
91 return Eigen::Rotation2D<Scalar>(_angle*_axis[0]);
94 template <
typename Scalar>
99 return Eigen::AngleAxis<Scalar>(_angle, _axis);
LinearVector< Scalar, Dim > force
Definition: Geometry.hh:63
Definition: Geometry.hh:60
AngularVector< Scalar, Dim > torque
Definition: Geometry.hh:62
This struct is used to conveniently convert from a policy to a geometric type. Example usage: ...
Definition: Geometry.hh:77
Eigen::Matrix< Scalar, Dim, 1 > Vector
Definition: Geometry.hh:48
Eigen::Transform< Scalar, Dim, Eigen::Isometry > Pose
This is used by ignition-physics to represent rigid body transforms in 2D or 3D simulations. The precision can be chosen as float or scalar.
Definition: Geometry.hh:44
Eigen::Rotation2D< Scalar > Rotate(const Scalar &_angle, const AngularVector< Scalar, 2 > &_axis)
Definition: Geometry.hh:87
Vector< Scalar,(Dim *(Dim-1))/2 > AngularVector
Definition: Geometry.hh:56
Vector< Scalar, Dim > LinearVector
Definition: Geometry.hh:52
Type< Scalar, Dim > Use
Definition: Geometry.hh:83
Eigen::AlignedBox< Scalar, Dim > AlignedBox
Definition: Geometry.hh:68
IGN_PHYSICS_MAKE_ALL_TYPE_COMBOS(FrameData) template< typename Scalar