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Started a Transform class in the Geometry module to represent
homography. Fix indentation in Quaternion.h
This commit is contained in:
Gael Guennebaud
@@ -43,122 +43,122 @@
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template<typename _Scalar>
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class Quaternion
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{
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typedef Matrix<_Scalar, 4, 1> Coefficients;
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Coefficients m_coeffs;
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typedef Matrix<_Scalar, 4, 1> Coefficients;
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Coefficients m_coeffs;
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public:
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public:
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/** the scalar type of the coefficients */
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typedef _Scalar Scalar;
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/** the scalar type of the coefficients */
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typedef _Scalar Scalar;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Matrix<Scalar,3,3> Matrix3;
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inline Scalar x() const { return m_coeffs.coeff(0); }
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inline Scalar y() const { return m_coeffs.coeff(1); }
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inline Scalar z() const { return m_coeffs.coeff(2); }
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inline Scalar w() const { return m_coeffs.coeff(3); }
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inline Scalar x() const { return m_coeffs.coeff(0); }
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inline Scalar y() const { return m_coeffs.coeff(1); }
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inline Scalar z() const { return m_coeffs.coeff(2); }
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inline Scalar w() const { return m_coeffs.coeff(3); }
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inline Scalar& x() { return m_coeffs.coeffRef(0); }
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inline Scalar& y() { return m_coeffs.coeffRef(1); }
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inline Scalar& z() { return m_coeffs.coeffRef(2); }
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inline Scalar& w() { return m_coeffs.coeffRef(3); }
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inline Scalar& x() { return m_coeffs.coeffRef(0); }
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inline Scalar& y() { return m_coeffs.coeffRef(1); }
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inline Scalar& z() { return m_coeffs.coeffRef(2); }
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inline Scalar& w() { return m_coeffs.coeffRef(3); }
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/** \returns a read-only vector expression of the imaginary part (x,y,z) */
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inline const Block<Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
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/** \returns a read-only vector expression of the imaginary part (x,y,z) */
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inline const Block<Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
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/** \returns a vector expression of the imaginary part (x,y,z) */
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inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
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/** \returns a vector expression of the imaginary part (x,y,z) */
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inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
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/** \returns a read-only vector expression of the coefficients */
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inline const Coefficients& _coeffs() const { return m_coeffs; }
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/** \returns a read-only vector expression of the coefficients */
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inline const Coefficients& _coeffs() const { return m_coeffs; }
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/** \returns a vector expression of the coefficients */
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inline Coefficients& _coeffs() { return m_coeffs; }
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/** \returns a vector expression of the coefficients */
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inline Coefficients& _coeffs() { return m_coeffs; }
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// FIXME what is the prefered order: w x,y,z or x,y,z,w ?
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inline Quaternion(Scalar w = 1.0, Scalar x = 0.0, Scalar y = 0.0, Scalar z = 0.0)
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{
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m_coeffs.coeffRef(0) = x;
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m_coeffs.coeffRef(1) = y;
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m_coeffs.coeffRef(2) = z;
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m_coeffs.coeffRef(3) = w;
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}
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// FIXME what is the prefered order: w x,y,z or x,y,z,w ?
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inline Quaternion(Scalar w = 1.0, Scalar x = 0.0, Scalar y = 0.0, Scalar z = 0.0)
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{
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m_coeffs.coeffRef(0) = x;
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m_coeffs.coeffRef(1) = y;
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m_coeffs.coeffRef(2) = z;
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m_coeffs.coeffRef(3) = w;
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}
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/** Copy constructor */
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inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
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/** Copy constructor */
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inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
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/** This is a special case of the templated operator=. Its purpose is to
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* prevent a default operator= from hiding the templated operator=.
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*/
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inline Quaternion& operator=(const Quaternion& other)
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{
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m_coeffs = other.m_coeffs;
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return *this;
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}
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/** This is a special case of the templated operator=. Its purpose is to
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* prevent a default operator= from hiding the templated operator=.
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*/
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inline Quaternion& operator=(const Quaternion& other)
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{
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m_coeffs = other.m_coeffs;
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return *this;
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}
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/** \returns a quaternion representing an identity rotation
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* \sa MatrixBase::identity()
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*/
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inline static Quaternion identity() { return Quaternion(1, 0, 0, 0); }
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/** \returns a quaternion representing an identity rotation
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* \sa MatrixBase::identity()
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*/
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inline static Quaternion identity() { return Quaternion(1, 0, 0, 0); }
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/** \sa Quaternion::identity(), MatrixBase::setIdentity()
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*/
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inline Quaternion& setIdentity() { m_coeffs << 1, 0, 0, 0; return *this; }
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/** \sa Quaternion::identity(), MatrixBase::setIdentity()
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*/
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inline Quaternion& setIdentity() { m_coeffs << 1, 0, 0, 0; return *this; }
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/** \returns the squared norm of the quaternion's coefficients
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* \sa Quaternion::norm(), MatrixBase::norm2()
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*/
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inline Scalar norm2() const { return m_coeffs.norm2(); }
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/** \returns the squared norm of the quaternion's coefficients
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* \sa Quaternion::norm(), MatrixBase::norm2()
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*/
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inline Scalar norm2() const { return m_coeffs.norm2(); }
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/** \returns the norm of the quaternion's coefficients
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* \sa Quaternion::norm2(), MatrixBase::norm()
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*/
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inline Scalar norm() const { return m_coeffs.norm(); }
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/** \returns the norm of the quaternion's coefficients
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* \sa Quaternion::norm2(), MatrixBase::norm()
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*/
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inline Scalar norm() const { return m_coeffs.norm(); }
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template<typename Derived>
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Quaternion& fromRotationMatrix(const MatrixBase<Derived>& m);
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Matrix3 toRotationMatrix(void) const;
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template<typename Derived>
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Quaternion& fromRotationMatrix(const MatrixBase<Derived>& m);
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Matrix3 toRotationMatrix(void) const;
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template<typename Derived>
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Quaternion& fromAngleAxis (const Scalar& angle, const MatrixBase<Derived>& axis);
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void toAngleAxis(Scalar& angle, Vector3& axis) const;
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template<typename Derived>
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Quaternion& fromAngleAxis (const Scalar& angle, const MatrixBase<Derived>& axis);
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void toAngleAxis(Scalar& angle, Vector3& axis) const;
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Quaternion& fromEulerAngles(Vector3 eulerAngles);
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Quaternion& fromEulerAngles(Vector3 eulerAngles);
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Vector3 toEulerAngles(void) const;
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Vector3 toEulerAngles(void) const;
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template<typename Derived1, typename Derived2>
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Quaternion& fromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
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template<typename Derived1, typename Derived2>
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Quaternion& fromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
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inline Quaternion operator* (const Quaternion& q) const;
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inline Quaternion& operator*= (const Quaternion& q);
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inline Quaternion operator* (const Quaternion& q) const;
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inline Quaternion& operator*= (const Quaternion& q);
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Quaternion inverse(void) const;
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Quaternion conjugate(void) const;
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Quaternion inverse(void) const;
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Quaternion conjugate(void) const;
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Quaternion slerp(Scalar t, const Quaternion& other) const;
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Quaternion slerp(Scalar t, const Quaternion& other) const;
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template<typename Derived>
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Vector3 operator* (const MatrixBase<Derived>& vec) const;
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template<typename Derived>
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Vector3 operator* (const MatrixBase<Derived>& vec) const;
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protected:
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/** Constructor copying the value of the expression \a other */
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template<typename OtherDerived>
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inline Quaternion(const Eigen::MatrixBase<OtherDerived>& other)
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{
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m_coeffs = other;
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}
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/** Constructor copying the value of the expression \a other */
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template<typename OtherDerived>
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inline Quaternion(const Eigen::MatrixBase<OtherDerived>& other)
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{
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m_coeffs = other;
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}
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/** Copies the value of the expression \a other into \c *this.
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*/
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template<typename OtherDerived>
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inline Quaternion& operator=(const MatrixBase<OtherDerived>& other)
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{
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m_coeffs = other.derived();
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return *this;
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}
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/** Copies the value of the expression \a other into \c *this.
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*/
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template<typename OtherDerived>
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inline Quaternion& operator=(const MatrixBase<OtherDerived>& other)
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{
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m_coeffs = other.derived();
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return *this;
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}
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};
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