DART  6.7.3
Utils.hpp
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32 
33 #ifndef DART_GUI_OSG_UTILS_HPP_
34 #define DART_GUI_OSG_UTILS_HPP_
35 
36 #include <Eigen/Geometry>
37 
38 #include <osg/Matrix>
39 
40 //==============================================================================
41 template<typename Scalar>
42 ::osg::Matrix eigToOsgMatrix(const Eigen::Transform<Scalar,3,Eigen::Isometry>& tf)
43 {
44  return ::osg::Matrix(
45  tf(0, 0), tf(1, 0), tf(2, 0), tf(3, 0),
46  tf(0, 1), tf(1, 1), tf(2, 1), tf(3, 1),
47  tf(0, 2), tf(1, 2), tf(2, 2), tf(3, 2),
48  tf(0, 3), tf(1, 3), tf(2, 3), tf(3, 3));
49 }
50 
51 //==============================================================================
52 template<typename Derived>
53 ::osg::Matrix eigToOsgMatrix(const Eigen::DenseBase<Derived>& M)
54 {
55  return ::osg::Matrix(
56  M(0, 0), M(1, 0), M(2, 0), M(3, 0),
57  M(0, 1), M(1, 1), M(2, 1), M(3, 1),
58  M(0, 2), M(1, 2), M(2, 2), M(3, 2),
59  M(0, 3), M(1, 3), M(2, 3), M(3, 3));
60 }
61 
62 //==============================================================================
63 template<typename Derived>
64 ::osg::Vec3d eigToOsgVec3(const Eigen::MatrixBase<Derived>& vec)
65 {
66  return ::osg::Vec3d(vec[0], vec[1], vec[2]);
67 }
68 
69 //==============================================================================
70 inline Eigen::Vector3d osgToEigVec3(const ::osg::Vec3d& vec)
71 {
72  return Eigen::Vector3d(vec[0], vec[1], vec[2]);
73 }
74 
75 //==============================================================================
76 template<typename Derived>
77 ::osg::Vec4d eigToOsgVec4(const Eigen::MatrixBase<Derived>& vec)
78 {
79  return ::osg::Vec4d(vec[0], vec[1], vec[2], vec[3]);
80 }
81 
82 //==============================================================================
83 inline Eigen::Vector4d osgToEigVec4(const ::osg::Vec4d& vec)
84 {
85  return Eigen::Vector4d(vec[0], vec[1], vec[2], vec[3]);
86 }
87 
88 #endif // DART_GUI_OSG_UTILS_HPP_
Eigen::Vector3d osgToEigVec3(const ::osg::Vec3d &vec)
Definition: Utils.hpp:70
Eigen::Vector4d osgToEigVec4(const ::osg::Vec4d &vec)
Definition: Utils.hpp:83
::osg::Vec4d eigToOsgVec4(const Eigen::MatrixBase< Derived > &vec)
Definition: Utils.hpp:77
::osg::Vec3d eigToOsgVec3(const Eigen::MatrixBase< Derived > &vec)
Definition: Utils.hpp:64
::osg::Matrix eigToOsgMatrix(const Eigen::Transform< Scalar, 3, Eigen::Isometry > &tf)
Definition: Utils.hpp:42