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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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5
test/array.cpp
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@@ -53,6 +53,11 @@ template<typename MatrixType> void scalarAdd(const MatrixType& m)
m3 = m1;
m3.cwise() -= s1;
VERIFY_IS_APPROX(m3, m1.cwise() - s1);
VERIFY_IS_APPROX(m1.colwise().sum().sum(), m1.sum());
VERIFY_IS_APPROX(m1.rowwise().sum().sum(), m1.sum());
VERIFY_IS_NOT_APPROX((m1.rowwise().sum()*2).sum(), m1.sum());
VERIFY_IS_APPROX(m1.colwise().sum(), m1.colwise().redux(ei_scalar_sum_op<Scalar>()));
}
template<typename MatrixType> void comparisons(const MatrixType& m)