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Added MatrixBase::Unit*() static function to easily create unit/basis vectors.

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Removed EulerAngles, addes typdefs for Quaternion and AngleAxis,
and added automatic conversions from Quaternion/AngleAxis to Matrix3 such that:
 Matrix3f m = AngleAxisf(0.2,Vector3f::UnitX) * AngleAxisf(0.2,Vector3f::UnitY);
just works.
This commit is contained in:
Gael Guennebaud
2008-07-19 13:03:23 +00:00
parent 7245c63067
commit 05ad083467
11 changed files with 154 additions and 67 deletions
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84
Eigen/src/Core/CwiseNullaryOp.h
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@@ -43,13 +43,13 @@
template<typename NullaryOp, typename MatrixType>
struct ei_traits<CwiseNullaryOp<NullaryOp, MatrixType> >
{
typedef typename MatrixType::Scalar Scalar;
typedef typename ei_traits<MatrixType>::Scalar Scalar;
enum {
RowsAtCompileTime = MatrixType::RowsAtCompileTime,
ColsAtCompileTime = MatrixType::ColsAtCompileTime,
MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
Flags = (MatrixType::Flags
RowsAtCompileTime = ei_traits<MatrixType>::RowsAtCompileTime,
ColsAtCompileTime = ei_traits<MatrixType>::ColsAtCompileTime,
MaxRowsAtCompileTime = ei_traits<MatrixType>::MaxRowsAtCompileTime,
MaxColsAtCompileTime = ei_traits<MatrixType>::MaxColsAtCompileTime,
Flags = (ei_traits<MatrixType>::Flags
& ( HereditaryBits
| (ei_functor_has_linear_access<NullaryOp>::ret ? LinearAccessBit : 0)
| (ei_functor_traits<NullaryOp>::PacketAccess ? PacketAccessBit : 0)))
@@ -453,7 +453,7 @@ Derived& MatrixBase<Derived>::setOnes()
* \sa identity(), setIdentity(), isIdentity()
*/
template<typename Derived>
inline const CwiseNullaryOp<ei_scalar_identity_op<typename ei_traits<Derived>::Scalar>, Derived>
inline const typename MatrixBase<Derived>::IdentityReturnType
MatrixBase<Derived>::identity(int rows, int cols)
{
return NullaryExpr(rows, cols, ei_scalar_identity_op<Scalar>());
@@ -470,7 +470,7 @@ MatrixBase<Derived>::identity(int rows, int cols)
* \sa identity(int,int), setIdentity(), isIdentity()
*/
template<typename Derived>
inline const CwiseNullaryOp<ei_scalar_identity_op<typename ei_traits<Derived>::Scalar>, Derived>
inline const typename MatrixBase<Derived>::IdentityReturnType
MatrixBase<Derived>::identity()
{
EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
@@ -522,4 +522,72 @@ inline Derived& MatrixBase<Derived>::setIdentity()
return *this = identity(rows(), cols());
}
/** \returns an expression of the i-th unit (basis) vector.
*
* \only_for_vectors
*
* \sa MatrixBase::Unit(int), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
*/
template<typename Derived>
const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(int size, int i)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
return BasisReturnType(SquareMatrixType::identity(size,size), i);
}
/** \returns an expression of the i-th unit (basis) vector.
*
* \only_for_vectors
*
* This variant is for fixed-size vector only.
*
* \sa MatrixBase::Unit(int,int), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
*/
template<typename Derived>
const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(int i)
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
return BasisReturnType(SquareMatrixType::identity(),i);
}
/** \returns an expression of the X axis unit vector (1{,0}^*)
*
* \only_for_vectors
*
* \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
*/
template<typename Derived>
const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitX()
{ return Derived::Unit(0); }
/** \returns an expression of the Y axis unit vector (0,1{,0}^*)
*
* \only_for_vectors
*
* \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
*/
template<typename Derived>
const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitY()
{ return Derived::Unit(1); }
/** \returns an expression of the Z axis unit vector (0,0,1{,0}^*)
*
* \only_for_vectors
*
* \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
*/
template<typename Derived>
const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitZ()
{ return Derived::Unit(2); }
/** \returns an expression of the W axis unit vector (0,0,0,1)
*
* \only_for_vectors
*
* \sa MatrixBase::Unit(int,int), MatrixBase::Unit(int), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
*/
template<typename Derived>
const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitW()
{ return Derived::Unit(3); }
#endif // EIGEN_CWISE_NULLARY_OP_H

21
Eigen/src/Core/MatrixBase.h
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@@ -148,6 +148,10 @@ template<typename Derived> class MatrixBase
*/
typedef typename NumTraits<Scalar>::Real RealScalar;
/** type of the equivalent square matrix */
typedef Matrix<Scalar,EIGEN_ENUM_MAX(RowsAtCompileTime,ColsAtCompileTime),
EIGEN_ENUM_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
/** \returns the number of rows. \sa cols(), RowsAtCompileTime */
inline int rows() const { return derived().rows(); }
/** \returns the number of columns. \sa row(), ColsAtCompileTime*/
@@ -193,7 +197,14 @@ template<typename Derived> class MatrixBase
/** the return type of MatrixBase::adjoint() */
typedef Transpose<NestByValue<typename ei_unref<ConjugateReturnType>::type> >
AdjointReturnType;
/** the return type of MatrixBase::eigenvalues() */
typedef Matrix<typename NumTraits<typename ei_traits<Derived>::Scalar>::Real, ei_traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
/** the return type of identity */
typedef CwiseNullaryOp<ei_scalar_identity_op<Scalar>,Derived> IdentityReturnType;
/** the return type of unit vectors */
typedef Block<CwiseNullaryOp<ei_scalar_identity_op<Scalar>, SquareMatrixType>,
ei_traits<Derived>::RowsAtCompileTime,
ei_traits<Derived>::ColsAtCompileTime> BasisReturnType;
/** Copies \a other into *this. \returns a reference to *this. */
@@ -391,8 +402,14 @@ template<typename Derived> class MatrixBase
static const ConstantReturnType ones(int rows, int cols);
static const ConstantReturnType ones(int size);
static const ConstantReturnType ones();
static const CwiseNullaryOp<ei_scalar_identity_op<Scalar>,Derived> identity();
static const CwiseNullaryOp<ei_scalar_identity_op<Scalar>,Derived> identity(int rows, int cols);
static const IdentityReturnType identity();
static const IdentityReturnType identity(int rows, int cols);
static const BasisReturnType Unit(int size, int i);
static const BasisReturnType Unit(int i);
static const BasisReturnType UnitX();
static const BasisReturnType UnitY();
static const BasisReturnType UnitZ();
static const BasisReturnType UnitW();
const DiagonalMatrix<Derived> asDiagonal() const;

1
Eigen/src/Core/util/ForwardDeclarations.h
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@@ -102,7 +102,6 @@ template<typename Lhs, typename Rhs> class Cross;
template<typename Scalar> class Quaternion;
template<typename Scalar> class Rotation2D;
template<typename Scalar> class AngleAxis;
template<typename Scalar> class EulerAngles;
template<typename Scalar,int Dim> class Transform;
#endif // EIGEN_FORWARDDECLARATIONS_H

1
Eigen/src/Core/util/Macros.h
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@@ -151,5 +151,6 @@ _EIGEN_GENERIC_PUBLIC_INTERFACE(Derived, Eigen::MatrixBase<Derived>) \
friend class Eigen::MatrixBase<Derived>;
#define EIGEN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
#define EIGEN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
#endif // EIGEN_MACROS_H