rotation3.h

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#ifndef OPEN_WALKER_CORE_ROTATION3_H
#define OPEN_WALKER_CORE_ROTATION3_H

#include <ow_core/rotation3_ref.h>

namespace ow_core
{
template <typename _Scalar>
class Rotation3 :
    public Rotation3Ref<Eigen::Matrix<_Scalar,3,3> >
{
public:
  typedef _Scalar Scalar;
  typedef Eigen::Matrix<_Scalar,3,3> Derived;
  typedef Rotation3Ref<Derived > Base;

protected:
  Derived data_;

public:
  Rotation3() :
    Base(data_)
  {
  }

  template <typename OtherDerived>
  Rotation3(const Eigen::EigenBase<OtherDerived>& other) :
    data_(other),
    Base(data_)
  {
  }

  template <typename OtherDerived>
  Rotation3(const Eigen::RotationBase<OtherDerived, 3>& other) : 
    data_(other.toRotationMatrix()),
    Base(data_)
  {
  }

  using Base::operator=;

};

}  // namespace ow_core

#endif  // OPEN_WALKER_CORE_ROTATION3_H