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

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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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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