Rotation.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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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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#ifndef RL_MATH_ROTATION_H
#define RL_MATH_ROTATION_H
 
#include "Matrix.h"
 
namespace rl
{
    namespace math
    {
        typedef Matrix33 Rotation;
        
        typedef Matrix33Block RotationBlock;
        
        typedef Matrix33Column RotationColumn;
        
        typedef Matrix33Row RotationRow;
        
        typedef ConstMatrix33Block ConstRotationBlock;
        
        typedef ConstMatrix33Column ConstRotationColumn;
        
        typedef ConstMatrix33Row ConstRotationRow;
        
        typedef ::Eigen::AngleAxis<Real> AngleAxis;
    }
}
 
#endif // RL_MATH_ROTATION_H