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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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42
Eigen/src/Geometry/Quaternion.h
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@@ -40,9 +40,13 @@ struct ei_quaternion_assign_impl;
* orientations and rotations of objects in three dimensions. Compared to other
* representations like Euler angles or 3x3 matrices, quatertions offer the
* following advantages:
* - compact storage (4 scalars)
* - efficient to compose (28 flops),
* - stable spherical interpolation
* \li \c compact storage (4 scalars)
* \li \c efficient to compose (28 flops),
* \li \c stable spherical interpolation
*
* The following two typedefs are provided for convenience:
* \li \c Quaternionf for \c float
* \li \c Quaterniond for \c double
*
* \sa class AngleAxis, class EulerAngles, class Transform
*/
@@ -60,7 +64,6 @@ public:
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,3,3> Matrix3;
typedef AngleAxis<Scalar> AngleAxisType;
typedef EulerAngles<Scalar> EulerAnglesType;
inline Scalar x() const { return m_coeffs.coeff(0); }
inline Scalar y() const { return m_coeffs.coeff(1); }
@@ -97,16 +100,16 @@ public:
inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
explicit inline Quaternion(const EulerAnglesType& ea) { *this = ea; }
template<typename Derived>
explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
Quaternion& operator=(const Quaternion& other);
Quaternion& operator=(const AngleAxisType& aa);
Quaternion& operator=(EulerAnglesType ea);
template<typename Derived>
Quaternion& operator=(const MatrixBase<Derived>& m);
operator Matrix3 () const { return toRotationMatrix(); }
/** \returns a quaternion representing an identity rotation
* \sa MatrixBase::identity()
*/
@@ -144,6 +147,9 @@ public:
};
typedef Quaternion<float> Quaternionf;
typedef Quaternion<double> Quaterniond;
/** \returns the concatenation of two rotations as a quaternion-quaternion product */
template <typename Scalar>
inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
@@ -204,30 +210,6 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa
return *this;
}
/** Set \c *this from the rotation defined by the Euler angles \a ea,
* and returns a reference to \c *this
*/
template<typename Scalar>
inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(EulerAnglesType ea)
{
ea.coeffs() *= 0.5;
Vector3 cosines = ea.coeffs().cwise().cos();
Vector3 sines = ea.coeffs().cwise().sin();
Scalar cYcZ = cosines.y() * cosines.z();
Scalar sYsZ = sines.y() * sines.z();
Scalar sYcZ = sines.y() * cosines.z();
Scalar cYsZ = cosines.y() * sines.z();
this->w() = cosines.x() * cYcZ + sines.x() * sYsZ;
this->x() = sines.x() * cYcZ - cosines.x() * sYsZ;
this->y() = cosines.x() * sYcZ + sines.x() * cYsZ;
this->z() = cosines.x() * cYsZ - sines.x() * sYcZ;
return *this;
}
/** Set \c *this from the expression \a xpr:
* - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
* - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix