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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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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;