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updated 7dof (quaternion) #2

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7 changes: 4 additions & 3 deletions include/affx/affine.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@

#include <Eigen/Geometry>
#include <unsupported/Eigen/EulerAngles>

#include <iostream>

namespace affx {

Expand Down Expand Up @@ -35,15 +35,16 @@ class Affine {
explicit Affine(double x, double y, double z, double q_w, double q_x, double q_y, double q_z) {
data.translation() = Eigen::Vector3d(x, y, z);
data.linear() = Eigen::Quaterniond(q_w, q_x, q_y, q_z).toRotationMatrix();

}

explicit Affine(const std::array<double, 6>& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }

explicit Affine(const std::array<double, 7>& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }
explicit Affine(const std::array<double, 7>& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5], v[6]) { }

explicit Affine(const Vector6d& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }

explicit Affine(const Vector7d& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5]) { }
explicit Affine(const Vector7d& v): Affine(v[0], v[1], v[2], v[3], v[4], v[5], v[6]) { }

explicit Affine(const std::array<double, 16>& array) {
Type affine(Eigen::Matrix4d::Map(array.data()));
Expand Down