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"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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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>
#define EIGEN_TRANSFORM_PLUGIN <rl/math/TransformAddons.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 ::Eigen::Block<const Matrix> ConstMatrixBlock;
        
        typedef ::Eigen::Block<const Matrix22> ConstMatrix22Block;
        
        typedef ::Eigen::Block<const Matrix33> ConstMatrix33Block;
        
        typedef ::Eigen::Block<const Matrix44> ConstMatrix44Block;
        
        typedef ::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;
        
        typedef ::Eigen::Ref<Matrix> MatrixRef;
        
        typedef ::Eigen::Ref<const Matrix> ConstMatrixRef;
    }
}
 
#endif // RL_MATH_MATRIX_H