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Much better tests, and a little bit more functionality.

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This commit is contained in:
Tal Hadad
2015-12-20 12:49:12 +02:00
parent 5e0a178df2
commit 6752a69aa5
3 changed files with 158 additions and 9 deletions
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20
unsupported/Eigen/src/EulerAngles/EulerAngles.h
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@@ -37,16 +37,26 @@ namespace Eigen
typedef Matrix<Scalar,3,1> Vector3;
typedef Quaternion<Scalar> QuaternionType;
typedef AngleAxis<Scalar> AngleAxisType;
static Vector3 HeadingAxisVector() {
return internal::NegativeIf<System::IsHeadingOpposite>::run(Vector3::Unit(System::HeadingAxisAbs - 1));
}
static Vector3 PitchAxisVector() {
return internal::NegativeIf<System::IsPitchOpposite>::run(Vector3::Unit(System::PitchAxisAbs - 1));
}
static Vector3 RollAxisVector() {
return internal::NegativeIf<System::IsRollOpposite>::run(Vector3::Unit(System::RollAxisAbs - 1));
}
protected:
private:
Vector3 m_angles;
public:
EulerAngles() {}
inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
inline EulerAngles(Vector3 angles) : m_angles(angles) {}
inline EulerAngles(const QuaternionType& q) { *this = q; }
inline EulerAngles(const AngleAxisType& aa) { *this = aa; }
template<typename Derived>
@@ -116,7 +126,7 @@ namespace Eigen
EulerAngles& operator=(const QuaternionType& q){
// TODO: Implement it in a better way
// According to http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
// we can compute only the needed matrix cells and then convert to euler angles.
// we can compute only the needed matrix cells and then convert to euler angles. (see ZYX example below)
// Currently we compute all matrix cells from quaternion.
fromRotationMatrix(q.toRotationMatrix());
@@ -131,6 +141,8 @@ namespace Eigen
return *this;
}
// TODO: Support isApprox function
/** Set \c *this from AngleAxis \a ea.
*/
EulerAngles& operator=(const AngleAxisType& ea)

26
unsupported/Eigen/src/EulerAngles/EulerSystem.h
View File

@@ -31,6 +31,26 @@ namespace Eigen
enum { value = -Num };
};
template <bool Cond>
struct NegativeIf
{
template <typename T>
static T run(const T& t)
{
return -t;
}
};
template <>
struct NegativeIf<false>
{
template <typename T>
static T run(const T& t)
{
return t;
}
};
template <bool Cond>
struct NegateIf
{
@@ -45,7 +65,7 @@ namespace Eigen
struct NegateIf<false>
{
template <typename T>
static void run(T& t)
static void run(T&)
{
// no op
}
@@ -113,7 +133,7 @@ namespace Eigen
};
template <typename Derived>
static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type isTaitBryan)
static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type /*isTaitBryan*/)
{
using std::atan2;
using std::sin;
@@ -136,7 +156,7 @@ namespace Eigen
}
template <typename Derived>
static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type isTaitBryan)
static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type /*isTaitBryan*/)
{
using std::atan2;
using std::sin;