diff options
Diffstat (limited to 'unsupported/Eigen/src/EulerAngles/EulerSystem.h')
| -rw-r--r-- | unsupported/Eigen/src/EulerAngles/EulerSystem.h | 37 |
1 files changed, 18 insertions, 19 deletions
diff --git a/unsupported/Eigen/src/EulerAngles/EulerSystem.h b/unsupported/Eigen/src/EulerAngles/EulerSystem.h index dbca3e174..82243e643 100644 --- a/unsupported/Eigen/src/EulerAngles/EulerSystem.h +++ b/unsupported/Eigen/src/EulerAngles/EulerSystem.h @@ -40,17 +40,17 @@ namespace Eigen #define EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(COND,MSG) typedef char static_assertion_##MSG[(COND)?1:-1] - /** \brief Representation of a fixed signed rotation axis for EulerAngles. + /** \brief Representation of a fixed signed rotation axis for EulerSystem. + * + * \ingroup EulerAngles_Module * * Values here represent: * - The axis of the rotation: X, Y or Z. - * - The sign (i.e. direction of the rotation along the axis): possitive(+) or negative(-) + * - The sign (i.e. direction of the rotation along the axis): positive(+) or negative(-) * * Therefore, this could express all the axes {+X,+Y,+Z,-X,-Y,-Z} * * For positive axis, use +EULER_{axis}, and for negative axis use -EULER_{axis}. - * - * !TODO! Add examples */ enum EulerAxis { @@ -61,6 +61,8 @@ namespace Eigen /** \class EulerSystem * + * \ingroup EulerAngles_Module + * * \brief Represents a fixed Euler rotation system. * * This meta-class goal is to represent the Euler system in compilation time, for EulerAngles. @@ -69,8 +71,8 @@ namespace Eigen * - Build an Euler system, and then pass it as a template parameter to EulerAngles. * - Query some compile time data about an Euler system. (e.g. Whether it's tait bryan) * - * Euler rotation is a set of three rotation on fixed axes. (see EulerAngles) - * This meta-class store constantly those signed axes. (see EulerAxis) + * Euler rotation is a set of three rotation on fixed axes. (see \ref EulerAngles) + * This meta-class store constantly those signed axes. (see \ref EulerAxis) * * ### Types of Euler systems ### * @@ -78,35 +80,31 @@ namespace Eigen * signed axes{+X,+Y,+Z,-X,-Y,-Z} are supported: * - all axes X, Y, Z in each valid order (see below what order is valid) * - rotation over the axis is supported both over the positive and negative directions. - * - both tait bryan and classic Euler angles (i.e. the opposite). + * - both tait bryan and proper/classic Euler angles (i.e. the opposite). * * Since EulerSystem support both positive and negative directions, * you may call this rotation distinction in other names: - * - right handed or left handed - * - counterclockwise or clockwise + * - _right handed_ or _left handed_ + * - _counterclockwise_ or _clockwise_ * * Notice all axed combination are valid, and would trigger a static assertion. * Same unsigned axes can't be neighbors, e.g. {X,X,Y} is invalid. * This yield two and only two classes: - * - tait bryan - all unsigned axes are distinct, e.g. {X,Y,Z} - * - proper/classic Euler angles - The first and the third unsigned axes is equal, + * - _tait bryan_ - all unsigned axes are distinct, e.g. {X,Y,Z} + * - _proper/classic Euler angles_ - The first and the third unsigned axes is equal, * and the second is different, e.g. {X,Y,X} * - * !TODO! Add some example code. - * * ### Intrinsic vs extrinsic Euler systems ### * * Only intrinsic Euler systems are supported for simplicity. * If you want to use extrinsic Euler systems, * just use the equal intrinsic opposite order for axes and angles. - * I.E axes (A,B,C) becomes (C,B,A), and angles (a,b,c) becomes (c,b,a). - * !TODO! Make it more clear and add some example code. + * I.e axes (A,B,C) becomes (C,B,A), and angles (a,b,c) becomes (c,b,a). * * ### Convenient user typedefs ### * * Convenient typedefs for EulerSystem exist (only for positive axes Euler systems), - * in a form of EulerSystem{A}{B}{C}, e.g. EulerSystemXYZd. - * !TODO! Make it more clear + * in a form of EulerSystem{A}{B}{C}, e.g. \ref EulerSystemXYZ. * * ### Additional reading ### * @@ -248,10 +246,10 @@ namespace Eigen } template< - typename Scalar, bool PositiveRangeAlpha, bool PositiveRangeBeta, - bool PositiveRangeGamma> + bool PositiveRangeGamma, + typename Scalar> static void CalcEulerAngles( EulerAngles<Scalar, EulerSystem>& res, const typename EulerAngles<Scalar, EulerSystem>::Matrix3& mat) @@ -296,6 +294,7 @@ namespace Eigen }; #define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \ + /** \ingroup EulerAngles_Module */ \ typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C; EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,Z) |