Matrix.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef _RL_MATH_MATRIX_H_
#define _RL_MATH_MATRIX_H_
 
#define EIGEN_MATRIXBASE_PLUGIN <rl/math/MatrixBaseAddons.h>
#define EIGEN_QUATERNIONBASE_PLUGIN <rl/math/QuaternionBaseAddons.h>
 
#include <Eigen/Core>
 
#include "Real.h"
 
namespace rl
{
    namespace math
    {
        typedef ::Eigen::Matrix< Real, ::Eigen::Dynamic, ::Eigen::Dynamic > Matrix;
        
        typedef ::Eigen::Matrix< Real, 2, 2 > Matrix22;
        
        typedef ::Eigen::Matrix< Real, 3, 3 > Matrix33;
        
        typedef ::Eigen::Matrix< Real, 4, 4 > Matrix44;
        
        typedef ::Eigen::Matrix< Real, 6, 6 > Matrix66;
        
        typedef ::Eigen::Block< Matrix > MatrixBlock;
        
        typedef ::Eigen::Block< Matrix22 > Matrix22Block;
        
        typedef ::Eigen::Block< Matrix33 > Matrix33Block;
        
        typedef ::Eigen::Block< Matrix44 > Matrix44Block;
        
        typedef ::Eigen::Block< Matrix66 > Matrix66Block;
        
        typedef Matrix::ColXpr MatrixColumn;
        
        typedef Matrix22::ColXpr Matrix22Column;
        
        typedef Matrix33::ColXpr Matrix33Column;
        
        typedef Matrix44::ColXpr Matrix44Column;
        
        typedef Matrix66::ColXpr Matrix66Column;
        
        typedef Matrix::RowXpr MatrixRow;
        
        typedef Matrix22::RowXpr Matrix22Row;
        
        typedef Matrix33::RowXpr Matrix33Row;
        
        typedef Matrix44::RowXpr Matrix44Row;
        
        typedef Matrix66::RowXpr Matrix66Row;
        
        typedef const ::Eigen::Block< const Matrix > ConstMatrixBlock;
        
        typedef const ::Eigen::Block< const Matrix22 > ConstMatrix22Block;
        
        typedef const ::Eigen::Block< const Matrix33 > ConstMatrix33Block;
        
        typedef const ::Eigen::Block< const Matrix44 > ConstMatrix44Block;
        
        typedef const ::Eigen::Block< const Matrix66 > ConstMatrix66Block;
        
        typedef Matrix::ConstColXpr ConstMatrixColumn;
        
        typedef Matrix22::ConstColXpr ConstMatrix22Column;
        
        typedef Matrix33::ConstColXpr ConstMatrix33Column;
        
        typedef Matrix44::ConstColXpr ConstMatrix44Column;
        
        typedef Matrix66::ConstColXpr ConstMatrix66Column;
        
        typedef Matrix::ConstRowXpr ConstMatrixRow;
        
        typedef Matrix22::ConstRowXpr ConstMatrix22Row;
        
        typedef Matrix33::ConstRowXpr ConstMatrix33Row;
        
        typedef Matrix44::ConstRowXpr ConstMatrix44Row;
        
        typedef Matrix66::ConstRowXpr ConstMatrix66Row;
    }
}
 
#endif // _RL_MATH_MATRIX_H_