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Doc EulerAngles class, and minor fixes.

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This commit is contained in:
Tal Hadad
2016-06-06 22:01:40 +03:00
parent 52e4cbf539
commit e30133e439
3 changed files with 104 additions and 30 deletions
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35
unsupported/Eigen/src/EulerAngles/EulerSystem.h
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@@ -103,7 +103,7 @@ namespace Eigen
res[0] = atan2(mat(J,K), mat(K,K));
Scalar c2 = Vector2(mat(I,I), mat(I,J)).norm();
if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0))) {
res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI);
res[1] = atan2(-mat(I,K), -c2);
}
else
@@ -126,7 +126,7 @@ namespace Eigen
res[0] = atan2(mat(J,I), mat(K,I));
if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0)))
{
res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(EIGEN_PI) : res[0] + Scalar(EIGEN_PI);
Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm();
res[1] = -atan2(s2, mat(I,I));
}
@@ -206,20 +206,23 @@ namespace Eigen
}
};
typedef EulerSystem<EULER_X, EULER_Y, EULER_Z> EulerSystemXYZ;
typedef EulerSystem<EULER_X, EULER_Y, EULER_X> EulerSystemXYX;
typedef EulerSystem<EULER_X, EULER_Z, EULER_Y> EulerSystemXZY;
typedef EulerSystem<EULER_X, EULER_Z, EULER_X> EulerSystemXZX;
typedef EulerSystem<EULER_Y, EULER_Z, EULER_X> EulerSystemYZX;
typedef EulerSystem<EULER_Y, EULER_Z, EULER_Y> EulerSystemYZY;
typedef EulerSystem<EULER_Y, EULER_X, EULER_Z> EulerSystemYXZ;
typedef EulerSystem<EULER_Y, EULER_X, EULER_Y> EulerSystemYXY;
typedef EulerSystem<EULER_Z, EULER_X, EULER_Y> EulerSystemZXY;
typedef EulerSystem<EULER_Z, EULER_X, EULER_Z> EulerSystemZXZ;
typedef EulerSystem<EULER_Z, EULER_Y, EULER_X> EulerSystemZYX;
typedef EulerSystem<EULER_Z, EULER_Y, EULER_Z> EulerSystemZYZ;
#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \
typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C;
EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,Z)
EIGEN_EULER_SYSTEM_TYPEDEF(X,Y,X)
EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,Y)
EIGEN_EULER_SYSTEM_TYPEDEF(X,Z,X)
EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,X)
EIGEN_EULER_SYSTEM_TYPEDEF(Y,Z,Y)
EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Z)
EIGEN_EULER_SYSTEM_TYPEDEF(Y,X,Y)
EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Y)
EIGEN_EULER_SYSTEM_TYPEDEF(Z,X,Z)
EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,X)
EIGEN_EULER_SYSTEM_TYPEDEF(Z,Y,Z)
}
#endif // EIGEN_EULERSYSTEM_H