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* Add an HyperPlane class in the Geometry module

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with its respective unit-test.
  Feel free to discuss the API on the ML.
* Some bugfix in unitOrthogonal found by the hyperplane unit test.
This commit is contained in:
Gael Guennebaud
2008-08-28 17:44:27 +00:00
parent ee2df6026a
commit 9b4d46c82e
5 changed files with 248 additions and 9 deletions
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6
Eigen/src/Geometry/OrthoMethods.h
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@@ -54,7 +54,7 @@ struct ei_unitOrthogonal_selector
typedef typename NumTraits<Scalar>::Real RealScalar;
inline static VectorType run(const Derived& src)
{
VectorType perp;
VectorType perp(src.size());
/* Let us compute the crossed product of *this with a vector
* that is not too close to being colinear to *this.
*/
@@ -65,7 +65,7 @@ struct ei_unitOrthogonal_selector
if((!ei_isMuchSmallerThan(src.x(), src.z()))
|| (!ei_isMuchSmallerThan(src.y(), src.z())))
{
RealScalar invnm = Scalar(1)/src.template start<2>().norm();
RealScalar invnm = RealScalar(1)/src.template start<2>().norm();
perp.coeffRef(0) = -ei_conj(src.y())*invnm;
perp.coeffRef(1) = ei_conj(src.x())*invnm;
perp.coeffRef(2) = 0;
@@ -76,7 +76,7 @@ struct ei_unitOrthogonal_selector
*/
else
{
RealScalar invnm = Scalar(1)/src.template end<2>().norm();
RealScalar invnm = RealScalar(1)/src.template end<2>().norm();
perp.coeffRef(0) = 0;
perp.coeffRef(1) = -ei_conj(src.z())*invnm;
perp.coeffRef(2) = ei_conj(src.y())*invnm;