Eigen3 Matrix3d compile time initialization error

Question

I'm writing code to implement rotation matrix/Direction Cosine Matrix (DCM).

I know the rotation angle at compile time, so in order to save on execution time, I wish to initialize the rotation matrix at compile time. but I'm getting the below-mentioned errors.

Code:

Eigen::Matrix3d lcs_rotation_matrix (
    -1.0,  0.0, 0.0,
     0.0, -1.0, 0.0,
     0.0,  0.0, 1.0
);

Code:

Eigen::Matrix3d rotation_matrix {
    -1.0,  0.0, 0.0,
    0.0, -1.0, 0.0,
    0.0,  0.0, 1.0
};

Code:

const Eigen::Matrix3d lcs_rotation_matrix {
    -1.0,  0.0, 0.0,
     0.0, -1.0, 0.0,
     0.0,  0.0, 1.0
};

Code:

static const Eigen::Matrix3d lcs_rotation_matrix {
    -1.0,  0.0, 0.0,
     0.0, -1.0, 0.0,
     0.0,  0.0, 1.0
};

Error:

Eigen/src/Core/PlainObjectBase.h:538:7: error: static assertion failed due to requirement 'PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3>>::IsVectorAtCompileTime': THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE

yuri kilochek · Accepted Answer · 2025-06-07 11:45:15Z

7

Matrix3d constructor expects vectors, not scalars:

Eigen::Matrix3d lcs_rotation_matrix{
    {-1.0,  0.0, 0.0},
    { 0.0, -1.0, 0.0},
    { 0.0,  0.0, 1.0},
};

answered Jun 7, 2025 at 11:45

yuri kilochek

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