Visual Servoing Platform version 3.6.0
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vpEigenConversion.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * ViSP <--> Eigen conversion.
33 *
34*****************************************************************************/
35
36#include <visp3/core/vpEigenConversion.h>
37
38namespace vp
39{
40#ifdef VISP_HAVE_EIGEN3
41/* Eigen to ViSP */
42void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst)
43{
44 dst.resize(static_cast<unsigned int>(src.rows()), static_cast<unsigned int>(src.cols()), false, false);
45 Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(&dst.data[0], src.rows(),
46 src.cols()) = src;
47}
48
49void eigen2visp(const Eigen::MatrixXd &src, vpHomogeneousMatrix &dst)
50{
51 if (src.rows() != 4 || src.cols() != 4) {
52 throw vpException(vpException::dimensionError, "Input Eigen Matrix must be of size (4,4)!");
53 }
54
55 Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> >(&dst.data[0], src.rows(),
56 src.cols()) = src;
57}
58
59void eigen2visp(const Eigen::VectorXd &src, vpColVector &dst)
60{
61 dst.resize(static_cast<unsigned int>(src.rows()));
62#if (VP_VERSION_INT(EIGEN_WORLD_VERSION, EIGEN_MAJOR_VERSION, EIGEN_MINOR_VERSION) < 0x030300)
63 for (Eigen::DenseIndex i = 0; i < src.rows(); i++) {
64#else
65 for (Eigen::Index i = 0; i < src.rows(); i++) {
66#endif
67 dst[static_cast<unsigned int>(i)] = src(i);
68 }
69}
70
71void eigen2visp(const Eigen::RowVectorXd &src, vpRowVector &dst)
72{
73 dst.resize(static_cast<unsigned int>(src.cols()));
74#if (VP_VERSION_INT(EIGEN_WORLD_VERSION, EIGEN_MAJOR_VERSION, EIGEN_MINOR_VERSION) < 0x030300)
75 for (Eigen::DenseIndex i = 0; i < src.cols(); i++) {
76#else
77 for (Eigen::Index i = 0; i < src.cols(); i++) {
78#endif
79 dst[static_cast<unsigned int>(i)] = src(i);
80 }
81}
82
83void visp2eigen(const vpColVector &src, Eigen::VectorXd &dst) { dst = Eigen::VectorXd::Map(src.data, src.size()); }
84
85void visp2eigen(const vpRowVector &src, Eigen::RowVectorXd &dst)
86{
87 dst = Eigen::RowVectorXd::Map(src.data, src.size());
88}
89#endif
90} // namespace vp
Type * data
Address of the first element of the data array.
Definition vpArray2D.h:144
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition vpArray2D.h:305
unsigned int size() const
Return the number of elements of the 2D array.
Definition vpArray2D.h:292
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ dimensionError
Bad dimension.
Definition vpException.h:83
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of row vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
void visp2eigen(const vpMatrix &src, Eigen::MatrixBase< Derived > &dst)
VISP_EXPORT void eigen2visp(const Eigen::MatrixXd &src, vpMatrix &dst)