iLab Neuromorphic Robotics Toolkit  0.1
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umeyama.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
31  // <http://www.gnu.org/licenses/>. //
32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #include <nrt/config.h>
36 #ifdef NRT_HAVE_EIGEN3
37 
38 #ifndef INCLUDE_NRT_EIGEN_UMEYAMA_H
39 #define INCLUDE_NRT_EIGEN_UMEYAMA_H
40 
41 #include <nrt/Eigen/Eigen.H>
42 
43 namespace nrt
44 {
45  //! Umeyama function from eigen
46  /*! There is currently a bug in Eigen when scaling is turned off for this function
47  it has been fixed but not released in a stable branch of eigen */
48  template <typename Derived, typename OtherDerived>
49  typename Eigen::internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type
50  umeyama (const Eigen::MatrixBase<Derived>& src, const Eigen::MatrixBase<OtherDerived>& dst, bool with_scaling = false);
51 }
52 
53 // implementation details
54 #include <nrt/Eigen/details/umeyamaImpl.H>
55 
56 #endif // INCLUDE_NRT_EIGEN_LMDIF_H
57 #endif // NRT_HAVE_EIGEN3