devtools/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2026-04-10 11:34:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

38
Eigen/src/Geometry/OrthoMethods.h
View File

@@ -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
@@ -50,6 +50,42 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
);
}
/** \returns a matrix expression of the cross product of each column or row
* of the referenced expression with the \a other vector.
*
* The referenced matrix must have one dimension equal to 3.
* The result matrix has the same dimensions than the referenced one.
*
* \geometry_module
*
* \sa MatrixBase::cross() */
template<typename ExpressionType, int Direction>
template<typename OtherDerived>
const typename PartialRedux<ExpressionType,Direction>::CrossReturnType
PartialRedux<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
{
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)
CrossReturnType res(_expression().rows(),_expression().cols());
if(Direction==Vertical)
{
ei_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
res.row(0) = _expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1);
res.row(1) = _expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2);
res.row(2) = _expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0);
}
else
{
ei_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
res.col(0) = _expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1);
res.col(1) = _expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2);
res.col(2) = _expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0);
}
return res;
}
template<typename Derived, int Size = Derived::SizeAtCompileTime>
struct ei_unitOrthogonal_selector
{

11
Eigen/src/Geometry/Quaternion.h
View File

@@ -345,7 +345,6 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
{
Vector3 v0 = a.normalized();
Vector3 v1 = b.normalized();
Vector3 axis = v0.cross(v1);
Scalar c = v0.dot(v1);
// if dot == 1, vectors are the same
@@ -353,7 +352,17 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
{
// set to identity
this->w() = 1; this->vec().setZero();
return *this;
}
// if dot == -1, vectors are opposites
if (ei_isApprox(c,Scalar(-1)))
{
this->vec() = v0.unitOrthogonal();
this->w() = 0;
return *this;
}
Vector3 axis = v0.cross(v1);
Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
Scalar invs = Scalar(1)/s;
this->vec() = axis * invs;