eigen_types.h File Reference

Detailed Description

This file contains abbreviated definitions for certain specializations of Eigen::Matrix that are commonly used in Drake. These convenient definitions are templated on the scalar type of the Eigen object. While Drake uses <T> for scalar types across the entire code base we decided in this file to use <Scalar> to be more consistent with the usage of <Scalar> in Eigen's code base.

See also

also eigen_autodiff_types.h

#include <utility>
#include <Eigen/Dense>
#include "maliput/drake/common/constants.h"
#include "maliput/drake/common/drake_assert.h"
#include "maliput/drake/common/drake_copyable.h"

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Classes
struct	EigenSizeMinPreferDynamic< a, b >
	EigenSizeMinPreferDynamic<a, b>::value gives the min between compile-time sizes a and b. More...
struct	EigenSizeMinPreferFixed< a, b >
	EigenSizeMinPreferFixed is a variant of EigenSizeMinPreferDynamic. More...
struct	MultiplyEigenSizes< a, b >
	MultiplyEigenSizes<a, b> gives a * b if both of a and b are fixed sizes. More...
struct	is_eigen_type< Derived >
struct	is_eigen_scalar_same< Derived, Scalar >
struct	is_eigen_vector< Derived >
struct	is_eigen_vector_of< Derived, Scalar >
struct	is_eigen_nonvector_of< Derived, Scalar >
class	EigenPtr< PlainObjectType >
	This wrapper class provides a way to write non-template functions taking raw pointers to Eigen objects as parameters while limiting the number of copies, similar to Eigen::Ref. More...

Namespaces
	maliput
	Code in this file is inspired by: https://github.com/RobotLocomotion/drake/blob/master/common/text_logging.h.
	maliput::drake

Typedefs
template<typename Scalar >
using	Vector0 = Eigen::Matrix< Scalar, 0, 1 >
	The empty column vector (zero rows, one column), templated on scalar type. More...
template<typename Scalar >
using	Vector1 = Eigen::Matrix< Scalar, 1, 1 >
	A column vector of size 1 (that is, a scalar), templated on scalar type. More...
using	Vector1d = Eigen::Matrix< double, 1, 1 >
	A column vector of size 1 of doubles. More...
template<typename Scalar >
using	Vector2 = Eigen::Matrix< Scalar, 2, 1 >
	A column vector of size 2, templated on scalar type. More...
template<typename Scalar >
using	Vector3 = Eigen::Matrix< Scalar, 3, 1 >
	A column vector of size 3, templated on scalar type. More...
template<typename Scalar >
using	Vector4 = Eigen::Matrix< Scalar, 4, 1 >
	A column vector of size 4, templated on scalar type. More...
template<typename Scalar >
using	Vector6 = Eigen::Matrix< Scalar, 6, 1 >
	A column vector of size 6. More...
using	Vector6d = Eigen::Matrix< double, 6, 1 >
	A column vector of size 6 of doubles. More...
template<typename Scalar , int Rows>
using	Vector = Eigen::Matrix< Scalar, Rows, 1 >
	A column vector templated on the number of rows. More...
template<typename Scalar >
using	VectorX = Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >
	A column vector of any size, templated on scalar type. More...
template<typename Scalar >
using	VectorUpTo6 = Eigen::Matrix< Scalar, Eigen::Dynamic, 1, 0, 6, 1 >
	A vector of dynamic size templated on scalar type, up to a maximum of 6 elements. More...
template<typename Scalar >
using	RowVector2 = Eigen::Matrix< Scalar, 1, 2 >
	A row vector of size 2, templated on scalar type. More...
template<typename Scalar >
using	RowVector3 = Eigen::Matrix< Scalar, 1, 3 >
	A row vector of size 3, templated on scalar type. More...
template<typename Scalar >
using	RowVector4 = Eigen::Matrix< Scalar, 1, 4 >
	A row vector of size 4, templated on scalar type. More...
template<typename Scalar >
using	RowVector6 = Eigen::Matrix< Scalar, 1, 6 >
	A row vector of size 6. More...
template<typename Scalar , int Cols>
using	RowVector = Eigen::Matrix< Scalar, 1, Cols >
	A row vector templated on the number of columns. More...
template<typename Scalar >
using	RowVectorX = Eigen::Matrix< Scalar, 1, Eigen::Dynamic >
	A row vector of any size, templated on scalar type. More...
template<typename Scalar >
using	Matrix2 = Eigen::Matrix< Scalar, 2, 2 >
	A matrix of 2 rows and 2 columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix3 = Eigen::Matrix< Scalar, 3, 3 >
	A matrix of 3 rows and 3 columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
	A matrix of 4 rows and 4 columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix6 = Eigen::Matrix< Scalar, 6, 6 >
	A matrix of 6 rows and 6 columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix2X = Eigen::Matrix< Scalar, 2, Eigen::Dynamic >
	A matrix of 2 rows, dynamic columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix3X = Eigen::Matrix< Scalar, 3, Eigen::Dynamic >
	A matrix of 3 rows, dynamic columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix4X = Eigen::Matrix< Scalar, 4, Eigen::Dynamic >
	A matrix of 4 rows, dynamic columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix6X = Eigen::Matrix< Scalar, 6, Eigen::Dynamic >
	A matrix of 6 rows, dynamic columns, templated on scalar type. More...
template<typename Scalar >
using	MatrixX = Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >
	A matrix of dynamic size, templated on scalar type. More...
template<typename Scalar >
using	MatrixUpTo6 = Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, 0, 6, 6 >
	A matrix of dynamic size templated on scalar type, up to a maximum of 6 rows and 6 columns. More...
template<typename Scalar >
using	Matrix6xUpTo6 = Eigen::Matrix< Scalar, 6, Eigen::Dynamic, 0, 6, 6 >
	A matrix of 6 rows and dynamic column size up to a maximum of 6, templated on scalar type. More...
template<typename Scalar >
using	Quaternion = Eigen::Quaternion< Scalar >
	A quaternion templated on scalar type. More...
template<typename Scalar >
using	AngleAxis = Eigen::AngleAxis< Scalar >
	An AngleAxis templated on scalar type. More...
template<typename Scalar >
using	Isometry3 = Eigen::Transform< Scalar, 3, Eigen::Isometry >
	An Isometry templated on scalar type. More...
template<typename Scalar >
using	Translation3 = Eigen::Translation< Scalar, 3 >
	A translation in 3D templated on scalar type. More...
template<typename Scalar >
using	TwistVector = Eigen::Matrix< Scalar, kTwistSize, 1 >
	A column vector consisting of one twist. More...
template<typename Scalar >
using	TwistMatrix = Eigen::Matrix< Scalar, kTwistSize, Eigen::Dynamic >
	A matrix with one twist per column, and dynamically many columns. More...
template<typename Scalar >
using	SquareTwistMatrix = Eigen::Matrix< Scalar, kTwistSize, kTwistSize >
	A six-by-six matrix. More...
template<typename Scalar >
using	WrenchVector = Eigen::Matrix< Scalar, 6, 1 >
	A column vector consisting of one wrench (spatial force) = [r X f; f], where f is a force (translational force) applied at a point P and r is the position vector from a point O (called the "moment center") to point P. More...