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Added an extensible mechanism to support any kind of rotation

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representation in Transform via the template static class
ToRotationMatrix.
Added a lightweight AngleAxis class (similar to Rotation2D).
This commit is contained in:
Gael Guennebaud
2008-06-15 17:22:41 +00:00
parent 0ee6b08128
commit bc0c7c57ed
6 changed files with 390 additions and 140 deletions
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20
Eigen/src/Geometry/Quaternion.h
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@@ -228,15 +228,15 @@ Quaternion<Scalar>::toRotationMatrix(void) const
Scalar tyz = tz*this->y();
Scalar tzz = tz*this->z();
res(0,0) = 1-(tyy+tzz);
res(0,1) = txy-twz;
res(0,2) = txz+twy;
res(1,0) = txy+twz;
res(1,1) = 1-(txx+tzz);
res(1,2) = tyz-twx;
res(2,0) = txz-twy;
res(2,1) = tyz+twx;
res(2,2) = 1-(txx+tyy);
res.coeffRef(0,0) = 1-(tyy+tzz);
res.coeffRef(0,1) = txy-twz;
res.coeffRef(0,2) = txz+twy;
res.coeffRef(1,0) = txy+twz;
res.coeffRef(1,1) = 1-(txx+tzz);
res.coeffRef(1,2) = tyz-twx;
res.coeffRef(2,0) = txz-twy;
res.coeffRef(2,1) = tyz+twx;
res.coeffRef(2,2) = 1-(txx+tyy);
return res;
}
@@ -250,7 +250,7 @@ Quaternion<Scalar>& Quaternion<Scalar>::fromRotationMatrix(const MatrixBase<Deri
{
// FIXME maybe this function could accept 4x4 and 3x4 matrices as well ? (simply update the assert)
// FIXME this function could also be static and returns a temporary ?
ei_assert(Derived::RowsAtCompileTime==3 && Derived::ColsAtCompileTime==3);
EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==3 && Derived::ColsAtCompileTime==3,you_did_a_programming_error);
// This algorithm comes from "Quaternion Calculus and Fast Animation",
// Ken Shoemake, 1987 SIGGRAPH course notes
Scalar t = mat.trace();