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* fix Quaternion::setFromTwoVectors (thanks to "benv" from the forum)

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* extend PartialRedux::cross() to any matrix sizes with automatic
  vectorization when possible
* unit tests: add "geo_" prefix to all unit tests related to the
  geometry module and start splitting the big "geometry.cpp" tests to
  multiple smaller ones (also include new tests)
This commit is contained in:
Gael Guennebaud
2009-02-17 09:53:05 +00:00
parent 67b4fab4e3
commit e6f1104b57
16 changed files with 445 additions and 157 deletions
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38
Eigen/src/Array/PartialRedux.h
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@@ -1,7 +1,7 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra. Eigen itself is part of the KDE project.
//
// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
//
// Eigen is free software; you can redistribute it and/or
@@ -176,7 +176,7 @@ template<typename ExpressionType, int Direction> class PartialRedux
};
typedef typename ExpressionType::PlainMatrixType CrossReturnType;
inline PartialRedux(const ExpressionType& matrix) : m_matrix(matrix) {}
/** \internal */
@@ -249,7 +249,7 @@ template<typename ExpressionType, int Direction> class PartialRedux
* \sa MatrixBase::any() */
const typename ReturnType<ei_member_any>::Type any() const
{ return _expression(); }
/** \returns a row (or column) vector expression representing
* the number of \c true coefficients of each respective column (or row).
*
@@ -269,8 +269,8 @@ template<typename ExpressionType, int Direction> class PartialRedux
* \sa MatrixBase::prod() */
const typename ReturnType<ei_member_prod>::Type prod() const
{ return _expression(); }
/** \returns a matrix expression
* where each column (or row) are reversed.
*
@@ -282,33 +282,9 @@ template<typename ExpressionType, int Direction> class PartialRedux
{
return Reverse<ExpressionType, Direction>( _expression() );
}
/** \returns a 3x3 matrix expression of the cross product
* of each column or row of the referenced expression with the \a other vector.
*
* \geometry_module
*
* \sa MatrixBase::cross() */
template<typename OtherDerived>
const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(CrossReturnType,3,3)
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
if(Direction==Vertical)
return (CrossReturnType()
<< _expression().col(0).cross(other),
_expression().col(1).cross(other),
_expression().col(2).cross(other)).finished();
else
return (CrossReturnType()
<< _expression().row(0).cross(other),
_expression().row(1).cross(other),
_expression().row(2).cross(other)).finished();
}
template<typename OtherDerived>
const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const;
protected:
ExpressionTypeNested m_matrix;