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add test for geometry with eigen2_ prefixes. fix that stuff.

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This commit is contained in:
Benoit Jacob
2011-01-27 11:21:38 -05:00
parent 955e096277
commit 52fed69baa
18 changed files with 508 additions and 66 deletions
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5
Eigen/src/Eigen2Support/Geometry/AlignedBox.h
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@@ -22,8 +22,7 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_ALIGNEDBOX_H
#define EIGEN_ALIGNEDBOX_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
/** \geometry_module \ingroup Geometry_Module
* \nonstableyet
@@ -169,5 +168,3 @@ inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const Vecto
}
return dist2;
}
#endif // EIGEN_ALIGNEDBOX_H

8
Eigen/src/Eigen2Support/Geometry/All.h
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@@ -58,6 +58,10 @@
#define Hyperplane eigen2_Hyperplane
#define ParametrizedLine eigen2_ParametrizedLine
#define ei_toRotationMatrix eigen2_ei_toRotationMatrix
#define ei_quaternion_assign_impl eigen2_ei_quaternion_assign_impl
#define ei_transform_product_impl eigen2_ei_transform_product_impl
#include "RotationBase.h"
#include "Rotation2D.h"
#include "Quaternion.h"
@@ -69,6 +73,10 @@
#include "Hyperplane.h"
#include "ParametrizedLine.h"
#undef ei_toRotationMatrix
#undef ei_quaternion_assign_impl
#undef ei_transform_product_impl
#undef RotationBase
#undef Rotation2D
#undef Rotation2Df

6
Eigen/src/Eigen2Support/Geometry/AngleAxis.h
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@@ -22,8 +22,8 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_ANGLEAXIS_H
#define EIGEN_ANGLEAXIS_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
/** \geometry_module \ingroup Geometry_Module
*
@@ -224,5 +224,3 @@ AngleAxis<Scalar>::toRotationMatrix(void) const
return res;
}
#endif // EIGEN_ANGLEAXIS_H

17
Eigen/src/Eigen2Support/Geometry/Hyperplane.h
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@@ -23,8 +23,7 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_HYPERPLANE_H
#define EIGEN_HYPERPLANE_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
/** \geometry_module \ingroup Geometry_Module
*
@@ -71,7 +70,7 @@ public:
: m_coeffs(n.size()+1)
{
normal() = n;
offset() = -e.dot(n);
offset() = -e.eigen2_dot(n);
}
/** Constructs a plane from its normal \a n and distance to the origin \a d
@@ -92,7 +91,7 @@ public:
{
Hyperplane result(p0.size());
result.normal() = (p1 - p0).unitOrthogonal();
result.offset() = -result.normal().dot(p0);
result.offset() = -result.normal().eigen2_dot(p0);
return result;
}
@@ -104,7 +103,7 @@ public:
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
Hyperplane result(p0.size());
result.normal() = (p2 - p0).cross(p1 - p0).normalized();
result.offset() = -result.normal().dot(p0);
result.offset() = -result.normal().eigen2_dot(p0);
return result;
}
@@ -116,7 +115,7 @@ public:
explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
{
normal() = parametrized.direction().unitOrthogonal();
offset() = -normal().dot(parametrized.origin());
offset() = -normal().eigen2_dot(parametrized.origin());
}
~Hyperplane() {}
@@ -133,7 +132,7 @@ public:
/** \returns the signed distance between the plane \c *this and a point \a p.
* \sa absDistance()
*/
inline Scalar signedDistance(const VectorType& p) const { return p.dot(normal()) + offset(); }
inline Scalar signedDistance(const VectorType& p) const { return p.eigen2_dot(normal()) + offset(); }
/** \returns the absolute distance between the plane \c *this and a point \a p.
* \sa signedDistance()
@@ -231,7 +230,7 @@ public:
TransformTraits traits = Affine)
{
transform(t.linear(), traits);
offset() -= t.translation().dot(normal());
offset() -= t.translation().eigen2_dot(normal());
return *this;
}
@@ -264,5 +263,3 @@ protected:
Coefficients m_coeffs;
};
#endif // EIGEN_HYPERPLANE_H

14
Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
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@@ -23,8 +23,8 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_PARAMETRIZEDLINE_H
#define EIGEN_PARAMETRIZEDLINE_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
/** \geometry_module \ingroup Geometry_Module
*
@@ -85,7 +85,7 @@ public:
RealScalar squaredDistance(const VectorType& p) const
{
VectorType diff = p-origin();
return (diff - diff.dot(direction())* direction()).squaredNorm();
return (diff - diff.eigen2_dot(direction())* direction()).squaredNorm();
}
/** \returns the distance of a point \a p to its projection onto the line \c *this.
* \sa squaredDistance()
@@ -94,7 +94,7 @@ public:
/** \returns the projection of a point \a p onto the line \c *this. */
VectorType projection(const VectorType& p) const
{ return origin() + (p-origin()).dot(direction()) * direction(); }
{ return origin() + (p-origin()).eigen2_dot(direction()) * direction(); }
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
@@ -148,8 +148,6 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane
template <typename _Scalar, int _AmbientDim>
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
{
return -(hyperplane.offset()+origin().dot(hyperplane.normal()))
/(direction().dot(hyperplane.normal()));
return -(hyperplane.offset()+origin().eigen2_dot(hyperplane.normal()))
/(direction().eigen2_dot(hyperplane.normal()));
}
#endif // EIGEN_PARAMETRIZEDLINE_H

15
Eigen/src/Eigen2Support/Geometry/Quaternion.h
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@@ -22,8 +22,7 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_QUATERNION_H
#define EIGEN_QUATERNION_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
template<typename Other,
int OtherRows=Other::RowsAtCompileTime,
@@ -172,7 +171,7 @@ public:
* corresponds to the cosine of half the angle between the two rotations.
* \sa angularDistance()
*/
inline Scalar dot(const Quaternion& other) const { return m_coeffs.dot(other.m_coeffs); }
inline Scalar eigen2_dot(const Quaternion& other) const { return m_coeffs.eigen2_dot(other.m_coeffs); }
inline Scalar angularDistance(const Quaternion& other) const;
@@ -353,7 +352,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
{
Vector3 v0 = a.normalized();
Vector3 v1 = b.normalized();
Scalar c = v0.dot(v1);
Scalar c = v0.eigen2_dot(v1);
// if dot == 1, vectors are the same
if (ei_isApprox(c,Scalar(1)))
@@ -412,12 +411,12 @@ inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
}
/** \returns the angle (in radian) between two rotations
* \sa dot()
* \sa eigen2_dot()
*/
template <typename Scalar>
inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
{
double d = ei_abs(this->dot(other));
double d = ei_abs(this->eigen2_dot(other));
if (d>=1.0)
return 0;
return Scalar(2) * std::acos(d);
@@ -430,7 +429,7 @@ template <typename Scalar>
Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
{
static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
Scalar d = this->dot(other);
Scalar d = this->eigen2_dot(other);
Scalar absD = ei_abs(d);
Scalar scale0;
@@ -505,5 +504,3 @@ struct ei_quaternion_assign_impl<Other,4,1>
q.coeffs() = vec;
}
};
#endif // EIGEN_QUATERNION_H

6
Eigen/src/Eigen2Support/Geometry/Rotation2D.h
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@@ -22,8 +22,8 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_ROTATION2D_H
#define EIGEN_ROTATION2D_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
/** \geometry_module \ingroup Geometry_Module
*
@@ -155,5 +155,3 @@ Rotation2D<Scalar>::toRotationMatrix(void) const
Scalar cosA = ei_cos(m_angle);
return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
}
#endif // EIGEN_ROTATION2D_H

5
Eigen/src/Eigen2Support/Geometry/RotationBase.h
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@@ -22,8 +22,7 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_ROTATIONBASE_H
#define EIGEN_ROTATIONBASE_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
// this file aims to contains the various representations of rotation/orientation
// in 2D and 3D space excepted Matrix and Quaternion.
@@ -133,5 +132,3 @@ inline static const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBa
YOU_MADE_A_PROGRAMMING_MISTAKE)
return mat;
}
#endif // EIGEN_ROTATIONBASE_H

6
Eigen/src/Eigen2Support/Geometry/Scaling.h
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@@ -22,8 +22,8 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_SCALING_H
#define EIGEN_SCALING_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
/** \geometry_module \ingroup Geometry_Module
*
@@ -177,5 +177,3 @@ Scaling<Scalar,Dim>::operator* (const TransformType& t) const
res.prescale(m_coeffs);
return res;
}
#endif // EIGEN_SCALING_H

6
Eigen/src/Eigen2Support/Geometry/Transform.h
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@@ -23,8 +23,8 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_TRANSFORM_H
#define EIGEN_TRANSFORM_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
// Note that we have to pass Dim and HDim because it is not allowed to use a template
// parameter to define a template specialization. To be more precise, in the following
@@ -796,5 +796,3 @@ struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
{ return ((tr.linear() * other) + tr.translation())
* (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
};
#endif // EIGEN_TRANSFORM_H

6
Eigen/src/Eigen2Support/Geometry/Translation.h
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@@ -22,8 +22,8 @@
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_TRANSLATION_H
#define EIGEN_TRANSLATION_H
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
/** \geometry_module \ingroup Geometry_Module
*
@@ -194,5 +194,3 @@ Translation<Scalar,Dim>::operator* (const TransformType& t) const
res.pretranslate(m_coeffs);
return res;
}
#endif // EIGEN_TRANSLATION_H