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* make std::vector specializations also for Transform and for Quaternion

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* update test_stdvector
* Quaternion() does nothing (instead of bug)
* update test_geometry
* some renaming
This commit is contained in:
Benoit Jacob
2009-01-12 16:06:04 +00:00
parent b26e12abcf
commit 4d44ca226e
13 changed files with 192 additions and 44 deletions
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21
Eigen/src/Geometry/Quaternion.h
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@@ -61,17 +61,17 @@ template<typename _Scalar>
class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
{
typedef RotationBase<Quaternion<_Scalar>,3> Base;
typedef Matrix<_Scalar, 4, 1> Coefficients;
Coefficients m_coeffs;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE(_Scalar,4)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
using Base::operator*;
/** the scalar type of the coefficients */
typedef _Scalar Scalar;
/** the type of the Coefficients 4-vector */
typedef Matrix<Scalar, 4, 1> Coefficients;
/** the type of a 3D vector */
typedef Matrix<Scalar,3,1> Vector3;
/** the equivalent rotation matrix type */
@@ -110,8 +110,11 @@ public:
inline Coefficients& coeffs() { return m_coeffs; }
/** Default constructor and initializing an identity quaternion. */
inline Quaternion()
{ m_coeffs << 0, 0, 0, 1; }
inline Quaternion() {}
inline Quaternion(ei_constructor_without_unaligned_array_assert)
: m_coeffs(ei_constructor_without_unaligned_array_assert()) {}
/** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
* its four coefficients \a w, \a x, \a y and \a z.
@@ -149,7 +152,7 @@ public:
/** \sa Quaternion::Identity(), MatrixBase::setIdentity()
*/
inline Quaternion& setIdentity() { m_coeffs << 1, 0, 0, 0; return *this; }
inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; }
/** \returns the squared norm of the quaternion's coefficients
* \sa Quaternion::norm(), MatrixBase::squaredNorm()
@@ -214,6 +217,8 @@ public:
bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
protected:
Coefficients m_coeffs;
};
/** \ingroup GeometryModule