10 #include <Eigen/Geometry> 11 #include <Eigen/StdVector> 14 #ifndef ANSI_COLOR_RED 15 #define ANSI_COLOR_RED "\x1b[1;31m" 17 #ifndef ANSI_COLOR_GREEN 19 #define ANSI_COLOR_GREEN "\x1b[1;32m" 21 #ifndef ANSI_COLOR_YELLOW 23 #define ANSI_COLOR_YELLOW "\x1b[1;33m" 25 #ifndef ANSI_COLOR_BLUE 27 #define ANSI_COLOR_BLUE "\x1b[1;34m" 29 #ifndef ANSI_COLOR_MAGENTA 31 #define ANSI_COLOR_MAGENTA "\x1b[1;35m" 33 #ifndef ANSI_COLOR_CYAN 35 #define ANSI_COLOR_CYAN "\x1b[1;36m" 37 #ifndef ANSI_COLOR_RESET 39 #define ANSI_COLOR_RESET "\x1b[0m" 52 using vec_E = std::vector<T, Eigen::aligned_allocator<T>>;
55 using Vecf = Eigen::Matrix<decimal_t, N, 1>;
58 using Veci = Eigen::Matrix<int, N, 1>;
60 using VecDf = Eigen::Matrix<decimal_t, Eigen::Dynamic, 1>;
62 template <
int M,
int N>
63 using Matf = Eigen::Matrix<decimal_t, M, N>;
66 using MatDNf = Eigen::Matrix<decimal_t, Eigen::Dynamic, N>;
113 typedef Eigen::Transform<decimal_t, 2, Eigen::Affine>
Aff2f;
115 typedef Eigen::Transform<decimal_t, 3, Eigen::Affine>
Aff3f;
Matf< Eigen::Dynamic, Eigen::Dynamic > MatDf
Dynamic MxN Eigen float matrix.
Definition: data_type.h:110
Matf< 3, 3 > Mat3f
3x3 Matrix in float
Definition: data_type.h:99
MatDNf< 3 > MatD3f
Mx3 Eigen float matrix.
Definition: data_type.h:108
Eigen::Matrix< decimal_t, Eigen::Dynamic, 1 > VecDf
Eigen 1D float vector of dynamic size.
Definition: data_type.h:60
Eigen::Matrix< decimal_t, Eigen::Dynamic, N > MatDNf
MxN Eigen matrix with M unknown.
Definition: data_type.h:66
std::vector< T, Eigen::aligned_allocator< T > > vec_E
Pre-allocated std::vector for Eigen using vec_E.
Definition: data_type.h:52
Vecf< 3 > Vec3f
Eigen 1D float vector of size 3.
Definition: data_type.h:79
Matf< 2, 2 > Mat2f
2x2 Matrix in float
Definition: data_type.h:97
vec_E< Vecf< N > > vec_Vecf
Vector of Eigen 1D float vector.
Definition: data_type.h:69
Matf< 4, 4 > Mat4f
4x4 Matrix in float
Definition: data_type.h:101
Eigen::Matrix< decimal_t, M, N > Matf
MxN Eigen matrix.
Definition: data_type.h:63
Eigen::Matrix< int, N, 1 > Veci
Eigen 1D int vector of size N.
Definition: data_type.h:58
double decimal_t
Rename the float type used in lib.
Definition: data_type.h:48
Matf< 6, 6 > Mat6f
6x6 Matrix in float
Definition: data_type.h:103
Eigen::Transform< decimal_t, 3, Eigen::Affine > Aff3f
Allias of Eigen::Affine3d.
Definition: data_type.h:115
Vecf< 2 > Vec2f
Eigen 1D float vector of size 2.
Definition: data_type.h:75
vec_E< Veci< N > > vec_Veci
Vector of Eigen 1D int vector.
Definition: data_type.h:72
Vecf< 6 > Vec6f
Column vector in float of size 6.
Definition: data_type.h:85
vec_E< Vec3i > vec_Vec3i
Vector of type Vec3i.
Definition: data_type.h:94
Eigen::Matrix< decimal_t, N, 1 > Vecf
Eigen 1D float vector of size N.
Definition: data_type.h:55
Vecf< 4 > Vec4f
Eigen 1D float vector of size 4.
Definition: data_type.h:83
vec_E< Vec3f > vec_Vec3f
Vector of type Vec3f.
Definition: data_type.h:92
vec_E< Vec2i > vec_Vec2i
Vector of type Vec2i.
Definition: data_type.h:90
Veci< 3 > Vec3i
Eigen 1D int vector of size 3.
Definition: data_type.h:81
Eigen::Transform< decimal_t, 2, Eigen::Affine > Aff2f
Allias of Eigen::Affine2d.
Definition: data_type.h:113
Veci< 2 > Vec2i
Eigen 1D int vector of size 2.
Definition: data_type.h:77
vec_E< Vec2f > vec_Vec2f
Vector of type Vec2f.
Definition: data_type.h:88