Detailed Description

This file contains abbreviated definitions for certain specializations of Eigen::Matrix that are commonly used in Drake.

These convenient definitions are templated on the scalar type of the Eigen object. While Drake uses <T> for scalar types across the entire code base we decided in this file to use <Scalar> to be more consistent with the usage of <Scalar> in Eigen's code base.

See also: also eigen_autodiff_types.h

#include <utility>
#include <Eigen/Dense>
#include "drake/common/constants.h"
#include "drake/common/drake_assert.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/fmt_eigen.h"

Include dependency graph for eigen_types.h:

Classes
struct	is_eigen_type< Derived >
struct	is_eigen_scalar_same< Derived, Scalar >
struct	is_eigen_vector< Derived >
struct	is_eigen_vector_of< Derived, Scalar >
struct	is_eigen_nonvector_of< Derived, Scalar >
class	EigenPtr< PlainObjectType >
	This wrapper class provides a way to write non-template functions taking raw pointers to Eigen objects as parameters while limiting the number of copies, similar to Eigen::Ref. More...

Namespaces
namespace	drake

Typedefs
template<typename Scalar>
using	Vector0 = Eigen::Matrix<Scalar, 0, 1>
	The empty column vector (zero rows, one column), templated on scalar type.
template<typename Scalar>
using	Vector1 = Eigen::Matrix<Scalar, 1, 1>
	A column vector of size 1 (that is, a scalar), templated on scalar type.
using	Vector1d = Eigen::Matrix<double, 1, 1>
	A column vector of size 1 of doubles.
template<typename Scalar>
using	Vector2 = Eigen::Matrix<Scalar, 2, 1>
	A column vector of size 2, templated on scalar type.
template<typename Scalar>
using	Vector3 = Eigen::Matrix<Scalar, 3, 1>
	A column vector of size 3, templated on scalar type.
template<typename Scalar>
using	Vector4 = Eigen::Matrix<Scalar, 4, 1>
	A column vector of size 4, templated on scalar type.
template<typename Scalar>
using	Vector6 = Eigen::Matrix<Scalar, 6, 1>
	A column vector of size 6.
using	Vector6d = Eigen::Matrix<double, 6, 1>
	A column vector of size 6 of doubles.
template<typename Scalar, int Rows>
using	Vector = Eigen::Matrix<Scalar, Rows, 1>
	A column vector templated on the number of rows.
template<typename Scalar>
using	VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
	A column vector of any size, templated on scalar type.
template<typename Scalar>
using	VectorUpTo6 = Eigen::Matrix<Scalar, Eigen::Dynamic, 1, 0, 6, 1>
	A vector of dynamic size templated on scalar type, up to a maximum of 6 elements.
template<typename Scalar>
using	RowVector2 = Eigen::Matrix<Scalar, 1, 2>
	A row vector of size 2, templated on scalar type.
template<typename Scalar>
using	RowVector3 = Eigen::Matrix<Scalar, 1, 3>
	A row vector of size 3, templated on scalar type.
template<typename Scalar>
using	RowVector4 = Eigen::Matrix<Scalar, 1, 4>
	A row vector of size 4, templated on scalar type.
template<typename Scalar>
using	RowVector6 = Eigen::Matrix<Scalar, 1, 6>
	A row vector of size 6.
template<typename Scalar, int Cols>
using	RowVector = Eigen::Matrix<Scalar, 1, Cols>
	A row vector templated on the number of columns.
template<typename Scalar>
using	RowVectorX = Eigen::Matrix<Scalar, 1, Eigen::Dynamic>
	A row vector of any size, templated on scalar type.
template<typename Scalar>
using	Matrix2 = Eigen::Matrix<Scalar, 2, 2>
	A matrix of 2 rows and 2 columns, templated on scalar type.
template<typename Scalar>
using	Matrix3 = Eigen::Matrix<Scalar, 3, 3>
	A matrix of 3 rows and 3 columns, templated on scalar type.
template<typename Scalar>
using	Matrix4 = Eigen::Matrix<Scalar, 4, 4>
	A matrix of 4 rows and 4 columns, templated on scalar type.
template<typename Scalar>
using	Matrix6 = Eigen::Matrix<Scalar, 6, 6>
	A matrix of 6 rows and 6 columns, templated on scalar type.
template<typename Scalar>
using	Matrix2X = Eigen::Matrix<Scalar, 2, Eigen::Dynamic>
	A matrix of 2 rows, dynamic columns, templated on scalar type.
template<typename Scalar>
using	Matrix3X = Eigen::Matrix<Scalar, 3, Eigen::Dynamic>
	A matrix of 3 rows, dynamic columns, templated on scalar type.
template<typename Scalar>
using	Matrix4X = Eigen::Matrix<Scalar, 4, Eigen::Dynamic>
	A matrix of 4 rows, dynamic columns, templated on scalar type.
template<typename Scalar>
using	Matrix6X = Eigen::Matrix<Scalar, 6, Eigen::Dynamic>
	A matrix of 6 rows, dynamic columns, templated on scalar type.
template<typename Scalar>
using	MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>
	A matrix of dynamic size, templated on scalar type.
template<typename Scalar>
using	MatrixUpTo6
	A matrix of dynamic size templated on scalar type, up to a maximum of 6 rows and 6 columns.
template<typename Scalar>
using	Matrix6xUpTo6 = Eigen::Matrix<Scalar, 6, Eigen::Dynamic, 0, 6, 6>
	A matrix of 6 rows and dynamic column size up to a maximum of 6, templated on scalar type.
template<typename Scalar, typename Derived>
using	MatrixLikewise
	A matrix with the same compile-time sizes and storage order as Derived, but with a different scalar type and its default alignment (Eigen::AutoAlign).
using	StrideX = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>
	A fully dynamic Eigen stride.
template<typename Scalar>
using	Quaternion = Eigen::Quaternion<Scalar>
	A quaternion templated on scalar type.
template<typename Scalar>
using	AngleAxis = Eigen::AngleAxis<Scalar>
	An AngleAxis templated on scalar type.
template<typename Scalar>
using	Isometry3 = Eigen::Transform<Scalar, 3, Eigen::Isometry>
	An Isometry templated on scalar type.

Functions
template<typename Container>
auto	EigenMapView (Container &&c)
	Given a random access container (like std::vector, std::array, or C array), returns an Eigen::Map view into that container.

Variables
static constexpr auto	eigen_all = Eigen::placeholders::all
	A portable alias for Eigen::placeholders::all.

Detailed Description

Classes

Namespaces

Typedefs

Functions

Variables