16 #ifndef SURGSIM_MATH_MATHCONVERT_H 17 #define SURGSIM_MATH_MATHCONVERT_H 20 #include <Eigen/Geometry> 22 #include <yaml-cpp/yaml.h> 49 template <
typename Type,
int Rows,
int Cols,
int MOpt>
52 static Node encode(
const typename Eigen::Matrix<Type, Rows, Cols, MOpt>& rhs);
53 static bool decode(
const Node& node,
typename Eigen::Matrix<Type, Rows, Cols, MOpt>& rhs);
58 template <
class Type,
int QOpt>
61 static Node encode(
const typename Eigen::Quaternion<Type, QOpt>& rhs);
62 static bool decode(
const Node& node,
typename Eigen::Quaternion<Type, QOpt>& rhs);
67 template <
class Type,
int Dim,
int TMode,
int TOptions>
68 struct convert<typename
Eigen::Transform<Type, Dim, TMode, TOptions>>
70 static Node encode(
const typename Eigen::Transform<Type, Dim, TMode, TOptions>& rhs);
71 static bool decode(
const Node& node,
typename Eigen::Transform<Type, Dim, TMode, TOptions>& rhs);
76 template <
typename Type>
79 static Node encode(
const typename Eigen::AngleAxis<Type>& rhs);
80 static bool decode(
const Node& node,
typename Eigen::AngleAxis<Type>& rhs);
86 static Node encode(
const std::shared_ptr<SurgSim::Math::Shape>& rhs);
87 static bool decode(
const Node& node, std::shared_ptr<SurgSim::Math::Shape>& rhs);
108 #endif // SURGSIM_MATH_MATHCONVERT_H Definition: CompoundShapeToGraphics.cpp:29
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
Definition: MathUtilities.h:94
LinearSolver
The linear numerical integration scheme supported Each Linear Solver should have its own entry in thi...
Definition: LinearSparseSolveAndInverse.h:41
SurgSim::Math::Matrix44f convert(boost::any val)
Specialization for convert<T>() to correctly cast Matrix44d to Matrix44f, will throw if the val is no...
Definition: Accessible.cpp:210
IntegrationScheme
The diverse numerical integration scheme supported Each Ode Solver should have its own entry in this ...
Definition: OdeSolver.h:36
Definition: DataStructuresConvert.h:28
#define SURGSIM_DOUBLE_SPECIALIZATION
Definition: Macros.h:44