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work on rotations in the Geometry module:

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- convertions are done trough constructors and operator=
 - added a EulerAngles class
This commit is contained in:
Gael Guennebaud
2008-06-21 15:01:49 +00:00
parent 574416b842
commit 32c5ea388e
8 changed files with 491 additions and 288 deletions
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20
Eigen/src/Geometry/Transform.h
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@@ -384,20 +384,20 @@ Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDer
template<typename Other, int Dim, int HDim>
struct ei_transform_product_impl<Other,Dim,HDim, HDim,HDim>
{
typedef Transform<typename Other::Scalar,Dim> Transform;
typedef typename Transform::MatrixType MatrixType;
typedef Transform<typename Other::Scalar,Dim> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform& tr, const Other& other)
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.matrix() * other; }
};
template<typename Other, int Dim, int HDim>
struct ei_transform_product_impl<Other,Dim,HDim, HDim,1>
{
typedef Transform<typename Other::Scalar,Dim> Transform;
typedef typename Transform::MatrixType MatrixType;
typedef Transform<typename Other::Scalar,Dim> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const Transform& tr, const Other& other)
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.matrix() * other; }
};
@@ -405,17 +405,17 @@ template<typename Other, int Dim, int HDim>
struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
{
typedef typename Other::Scalar Scalar;
typedef Transform<Scalar,Dim> Transform;
typedef typename Transform::AffineMatrixRef MatrixType;
typedef Transform<Scalar,Dim> TransformType;
typedef typename TransformType::AffineMatrixRef MatrixType;
typedef const CwiseUnaryOp<
ei_scalar_multiple_op<Scalar>,
NestByValue<CwiseBinaryOp<
ei_scalar_sum_op<Scalar>,
NestByValue<typename ProductReturnType<NestByValue<MatrixType>,Other>::Type >,
NestByValue<typename Transform::VectorRef> > >
NestByValue<typename TransformType::VectorRef> > >
> ResultType;
// FIXME shall we offer an optimized version when the last row is known to be 0,0...,0,1 ?
static ResultType run(const Transform& tr, const Other& other)
static ResultType run(const TransformType& tr, const Other& other)
{ return ((tr.affine().nestByValue() * other).nestByValue() + tr.translation().nestByValue()).nestByValue()
* (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
};