data_type.h File Reference

Defines all data types used in this lib. More...

#include <stdio.h>
#include <math.h>
#include <limits>
#include <vector>
#include <Eigen/Geometry>
#include <Eigen/StdVector>

Go to the source code of this file.

Macros
#define	ANSI_COLOR_RED   "\x1b[1;31m"
	Set red font in printf funtion.
#define	ANSI_COLOR_GREEN   "\x1b[1;32m"
	Set green font in printf funtion.
#define	ANSI_COLOR_YELLOW   "\x1b[1;33m"
	Set yellow font in printf funtion.
#define	ANSI_COLOR_BLUE   "\x1b[1;34m"
	Set blue font in printf funtion.
#define	ANSI_COLOR_MAGENTA   "\x1b[1;35m"
	Set magenta font in printf funtion.
#define	ANSI_COLOR_CYAN   "\x1b[1;36m"
	Set cyan font in printf funtion.
#define	ANSI_COLOR_RESET   "\x1b[0m"
	Reset font color in printf funtion.
#define	EIGEN_EPSILON

Typedefs
typedef double	decimal_t
	Rename the float type used in lib. More...
template<typename T >
using	vec_E = std::vector< T, Eigen::aligned_allocator< T >>
	Pre-allocated std::vector for Eigen using vec_E.
template<int N>
using	Vecf = Eigen::Matrix< decimal_t, N, 1 >
	Eigen 1D float vector.
template<int N>
using	Veci = Eigen::Matrix< int, N, 1 >
	Eigen 1D int vector.
template<int M, int N>
using	Matf = Eigen::Matrix< decimal_t, M, N >
	MxN Eigen matrix.
template<int N>
using	MatDNf = Eigen::Matrix< decimal_t, Eigen::Dynamic, N >
	MxN Eigen matrix with M unknown.
template<int N>
using	vec_Vecf = vec_E< Vecf< N >>
	Vector of Eigen 1D float vector.
template<int N>
using	vec_Veci = vec_E< Veci< N >>
	Vector of Eigen 1D int vector.
typedef Vecf< 2 >	Vec2f
	Eigen 1D float vector of size 2.
typedef Veci< 2 >	Vec2i
	Eigen 1D int vector of size 2.
typedef Vecf< 3 >	Vec3f
	Eigen 1D float vector of size 3.
typedef Veci< 3 >	Vec3i
	Eigen 1D int vector of size 3.
typedef Vecf< 4 >	Vec4f
	Eigen 1D float vector of size 4.
typedef Vecf< 6 >	Vec6f
	Column vector in float of size 6.
typedef vec_E< Vec2f >	vec_Vec2f
	Vector of type Vec2f.
typedef vec_E< Vec2i >	vec_Vec2i
	Vector of type Vec2i.
typedef vec_E< Vec3f >	vec_Vec3f
	Vector of type Vec3f.
typedef vec_E< Vec3i >	vec_Vec3i
	Vector of type Vec3i.
typedef Matf< 2, 2 >	Mat2f
	2x2 Matrix in float
typedef Matf< 3, 3 >	Mat3f
	3x3 Matrix in float
typedef Matf< 4, 4 >	Mat4f
	4x4 Matrix in float
typedef Matf< 6, 6 >	Mat6f
	6x6 Matrix in float
typedef Vecf< Eigen::Dynamic >	VecDf
	Dynamic Nx1 Eigen float vector.
typedef MatDNf< 2 >	MatD2f
	Nx2 Eigen float matrix.
typedef MatDNf< 3 >	MatD3f
	Nx3 Eigen float matrix.
typedef Matf< Eigen::Dynamic, Eigen::Dynamic >	MatDf
	Dynamic MxN Eigen float matrix.
typedef Eigen::Transform< decimal_t, 2, Eigen::Affine >	Aff2f
	Allias of Eigen::Affine2d.
typedef Eigen::Transform< decimal_t, 3, Eigen::Affine >	Aff3f
	Allias of Eigen::Affine3d.
typedef Eigen::Quaternion< decimal_t >	Quatf
	Allias of Eigen::Quaterniond.

Variables
constexpr decimal_t	epsilon_ = 1e-10
	Compensate for numerical error.

Detailed Description

Defines all data types used in this lib.

Mostly alias from Eigen Library.

Typedef Documentation

typedef double decimal_t

Rename the float type used in lib.

Default is set to be double, but user can change it to float.