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add optimized quaternion * quaternion product specialization for

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float/SSE using code from Rohit Garg
This commit is contained in:
Gael Guennebaud
2009-03-07 13:52:44 +00:00
parent 6f95270ede
commit e4f64ce098
4 changed files with 81 additions and 7 deletions
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21
Eigen/src/Geometry/Quaternion.h
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@@ -225,17 +225,24 @@ typedef Quaternion<float> Quaternionf;
* double precision quaternion type */
typedef Quaternion<double> Quaterniond;
// Generic Quaternion * Quaternion product
template<int Arch,typename Scalar> inline Quaternion<Scalar>
ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
{
return Quaternion<Scalar>
(
a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
);
}
/** \returns the concatenation of two rotations as a quaternion-quaternion product */
template <typename Scalar>
inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
{
return Quaternion
(
this->w() * other.w() - this->x() * other.x() - this->y() * other.y() - this->z() * other.z(),
this->w() * other.x() + this->x() * other.w() + this->y() * other.z() - this->z() * other.y(),
this->w() * other.y() + this->y() * other.w() + this->z() * other.x() - this->x() * other.z(),
this->w() * other.z() + this->z() * other.w() + this->x() * other.y() - this->y() * other.x()
);
return ei_quaternion_product<EiArch>(*this,other);
}
/** \sa operator*(Quaternion) */