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* Umeyama has now similar performance for RowMajor and ColMajor layouts.

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* Fixed a bug in umeyama for fixed size matrices.
* Fixed the umeyama unit test for fixed size matrices.
* Added XprHelper::ei_plain_matrix_type_row_major.
This commit is contained in:
Hauke Heibel
2009-05-27 19:24:05 +02:00
parent 7a7a3f3570
commit 4d1e492c00
3 changed files with 27 additions and 13 deletions
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5
test/umeyama.cpp
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@@ -168,7 +168,10 @@ void run_fixed_size_test(int num_elements)
MatrixX dst = (cR_t*src).lazy();
HomMatrix cR_t_umeyama = umeyama(src.block(0,0,dim,num_elements), dst.block(0,0,dim,num_elements));
Block<MatrixX, Dimension, Dynamic> src_block(src,0,0,dim,num_elements);
Block<MatrixX, Dimension, Dynamic> dst_block(dst,0,0,dim,num_elements);
HomMatrix cR_t_umeyama = umeyama(src_block, dst_block);
const Scalar error = ( cR_t_umeyama*src - dst ).cwise().square().sum();