1 files changed, 0 insertions, 206 deletions
diff --git a/src/Eigen/src/Geometry/RotationBase.h b/src/Eigen/src/Geometry/RotationBase.h
deleted file mode 100644
index f0ee0bd..0000000
--- a/src/Eigen/src/Geometry/RotationBase.h
+++ /dev/null
@@ -1,206 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ROTATIONBASE_H
-#define EIGEN_ROTATIONBASE_H
-
-namespace Eigen { 
-
-// forward declaration
-namespace internal {
-template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
-struct rotation_base_generic_product_selector;
-}
-
-/** \class RotationBase
-  *
-  * \brief Common base class for compact rotation representations
-  *
-  * \tparam Derived is the derived type, i.e., a rotation type
-  * \tparam _Dim the dimension of the space
-  */
-template<typename Derived, int _Dim>
-class RotationBase
-{
-  public:
-    enum { Dim = _Dim };
-    /** the scalar type of the coefficients */
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-
-    /** corresponding linear transformation matrix type */
-    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
-    typedef Matrix<Scalar,Dim,1> VectorType;
-
-  public:
-    EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
-
-    /** \returns an equivalent rotation matrix */
-    EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
-
-    /** \returns an equivalent rotation matrix 
-      * This function is added to be conform with the Transform class' naming scheme.
-      */
-    EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
-
-    /** \returns the inverse rotation */
-    EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
-
-    /** \returns the concatenation of the rotation \c *this with a translation \a t */
-    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
-    { return Transform<Scalar,Dim,Isometry>(*this) * t; }
-
-    /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
-    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
-    { return toRotationMatrix() * s.factor(); }
-
-    /** \returns the concatenation of the rotation \c *this with a generic expression \a e
-      * \a e can be:
-      *  - a DimxDim linear transformation matrix
-      *  - a DimxDim diagonal matrix (axis aligned scaling)
-      *  - a vector of size Dim
-      */
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
-    operator*(const EigenBase<OtherDerived>& e) const
-    { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
-
-    /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
-    template<typename OtherDerived> friend
-    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
-    { return l.derived() * r.toRotationMatrix(); }
-
-    /** \returns the concatenation of a scaling \a l with the rotation \a r */
-    EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
-    { 
-      Transform<Scalar,Dim,Affine> res(r);
-      res.linear().applyOnTheLeft(l);
-      return res;
-    }
-
-    /** \returns the concatenation of the rotation \c *this with a transformation \a t */
-    template<int Mode, int Options>
-    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
-    { return toRotationMatrix() * t; }
-
-    template<typename OtherVectorType>
-    EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
-    { return toRotationMatrix() * v; }
-};
-
-namespace internal {
-
-// implementation of the generic product rotation * matrix
-template<typename RotationDerived, typename MatrixType>
-struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
-{
-  enum { Dim = RotationDerived::Dim };
-  typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
-  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
-  { return r.toRotationMatrix() * m; }
-};
-
-template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
-struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
-{
-  typedef Transform<Scalar,Dim,Affine> ReturnType;
-  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
-  {
-    ReturnType res(r);
-    res.linear() *= m;
-    return res;
-  }
-};
-
-template<typename RotationDerived,typename OtherVectorType>
-struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
-{
-  enum { Dim = RotationDerived::Dim };
-  typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
-  {
-    return r._transformVector(v);
-  }
-};
-
-} // end namespace internal
-
-/** \geometry_module
-  *
-  * \brief Constructs a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  *this = r.toRotationMatrix();
-}
-
-/** \geometry_module
-  *
-  * \brief Set a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  return *this = r.toRotationMatrix();
-}
-
-namespace internal {
-
-/** \internal
-  *
-  * Helper function to return an arbitrary rotation object to a rotation matrix.
-  *
-  * \tparam Scalar the numeric type of the matrix coefficients
-  * \tparam Dim the dimension of the current space
-  *
-  * It returns a Dim x Dim fixed size matrix.
-  *
-  * Default specializations are provided for:
-  *   - any scalar type (2D),
-  *   - any matrix expression,
-  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
-  *
-  * Currently toRotationMatrix is only used by Transform.
-  *
-  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
-  */
-template<typename Scalar, int Dim>
-EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
-{
-  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return Rotation2D<Scalar>(s).toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
-{
-  return r.toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
-{
-  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
-    YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return mat;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_ROTATIONBASE_H