ruby-eigen 0.0.9 → 0.0.10.pre1
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- checksums.yaml +4 -4
- data/LICENSE +22 -0
- data/README.md +21 -0
- data/ext/eigen/eigen3/COPYING.BSD +26 -0
- data/ext/eigen/eigen3/COPYING.MPL2 +373 -0
- data/ext/eigen/eigen3/COPYING.README +18 -0
- data/ext/eigen/eigen3/Eigen/Array +11 -0
- data/ext/eigen/eigen3/Eigen/Cholesky +32 -0
- data/ext/eigen/eigen3/Eigen/CholmodSupport +45 -0
- data/ext/eigen/eigen3/Eigen/Core +376 -0
- data/ext/eigen/eigen3/Eigen/Dense +7 -0
- data/ext/eigen/eigen3/Eigen/Eigen +2 -0
- data/ext/eigen/eigen3/Eigen/Eigen2Support +95 -0
- data/ext/eigen/eigen3/Eigen/Eigenvalues +48 -0
- data/ext/eigen/eigen3/Eigen/Geometry +63 -0
- data/ext/eigen/eigen3/Eigen/Householder +23 -0
- data/ext/eigen/eigen3/Eigen/IterativeLinearSolvers +40 -0
- data/ext/eigen/eigen3/Eigen/Jacobi +26 -0
- data/ext/eigen/eigen3/Eigen/LU +41 -0
- data/ext/eigen/eigen3/Eigen/LeastSquares +32 -0
- data/ext/eigen/eigen3/Eigen/MetisSupport +28 -0
- data/ext/eigen/eigen3/Eigen/PaStiXSupport +46 -0
- data/ext/eigen/eigen3/Eigen/PardisoSupport +30 -0
- data/ext/eigen/eigen3/Eigen/QR +45 -0
- data/ext/eigen/eigen3/Eigen/QtAlignedMalloc +34 -0
- data/ext/eigen/eigen3/Eigen/SPQRSupport +29 -0
- data/ext/eigen/eigen3/Eigen/SVD +37 -0
- data/ext/eigen/eigen3/Eigen/Sparse +27 -0
- data/ext/eigen/eigen3/Eigen/SparseCore +64 -0
- data/ext/eigen/eigen3/Eigen/SparseLU +49 -0
- data/ext/eigen/eigen3/Eigen/SparseQR +33 -0
- data/ext/eigen/eigen3/Eigen/StdDeque +27 -0
- data/ext/eigen/eigen3/Eigen/StdList +26 -0
- data/ext/eigen/eigen3/Eigen/StdVector +27 -0
- data/ext/eigen/eigen3/Eigen/SuperLUSupport +59 -0
- data/ext/eigen/eigen3/Eigen/UmfPackSupport +36 -0
- data/ext/eigen/eigen3/Eigen/src/Cholesky/LDLT.h +611 -0
- data/ext/eigen/eigen3/Eigen/src/Cholesky/LLT.h +498 -0
- data/ext/eigen/eigen3/Eigen/src/Cholesky/LLT_MKL.h +102 -0
- data/ext/eigen/eigen3/Eigen/src/CholmodSupport/CholmodSupport.h +607 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Array.h +323 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ArrayBase.h +226 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ArrayWrapper.h +264 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Assign.h +590 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Assign_MKL.h +224 -0
- data/ext/eigen/eigen3/Eigen/src/Core/BandMatrix.h +334 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Block.h +406 -0
- data/ext/eigen/eigen3/Eigen/src/Core/BooleanRedux.h +154 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CommaInitializer.h +154 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CoreIterators.h +61 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseBinaryOp.h +230 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseNullaryOp.h +864 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseUnaryOp.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/Core/CwiseUnaryView.h +139 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DenseBase.h +521 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DenseCoeffsBase.h +754 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DenseStorage.h +434 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Diagonal.h +237 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DiagonalMatrix.h +313 -0
- data/ext/eigen/eigen3/Eigen/src/Core/DiagonalProduct.h +131 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Dot.h +263 -0
- data/ext/eigen/eigen3/Eigen/src/Core/EigenBase.h +131 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Flagged.h +140 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ForceAlignedAccess.h +146 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Functors.h +1026 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Fuzzy.h +150 -0
- data/ext/eigen/eigen3/Eigen/src/Core/GeneralProduct.h +635 -0
- data/ext/eigen/eigen3/Eigen/src/Core/GenericPacketMath.h +350 -0
- data/ext/eigen/eigen3/Eigen/src/Core/GlobalFunctions.h +92 -0
- data/ext/eigen/eigen3/Eigen/src/Core/IO.h +250 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Map.h +192 -0
- data/ext/eigen/eigen3/Eigen/src/Core/MapBase.h +247 -0
- data/ext/eigen/eigen3/Eigen/src/Core/MathFunctions.h +768 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Matrix.h +420 -0
- data/ext/eigen/eigen3/Eigen/src/Core/MatrixBase.h +563 -0
- data/ext/eigen/eigen3/Eigen/src/Core/NestByValue.h +111 -0
- data/ext/eigen/eigen3/Eigen/src/Core/NoAlias.h +134 -0
- data/ext/eigen/eigen3/Eigen/src/Core/NumTraits.h +150 -0
- data/ext/eigen/eigen3/Eigen/src/Core/PermutationMatrix.h +721 -0
- data/ext/eigen/eigen3/Eigen/src/Core/PlainObjectBase.h +822 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ProductBase.h +290 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Random.h +152 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Redux.h +409 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Ref.h +278 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Replicate.h +177 -0
- data/ext/eigen/eigen3/Eigen/src/Core/ReturnByValue.h +99 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Reverse.h +224 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Select.h +162 -0
- data/ext/eigen/eigen3/Eigen/src/Core/SelfAdjointView.h +314 -0
- data/ext/eigen/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h +191 -0
- data/ext/eigen/eigen3/Eigen/src/Core/SolveTriangular.h +260 -0
- data/ext/eigen/eigen3/Eigen/src/Core/StableNorm.h +203 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Stride.h +108 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Swap.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Transpose.h +419 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Transpositions.h +436 -0
- data/ext/eigen/eigen3/Eigen/src/Core/TriangularMatrix.h +839 -0
- data/ext/eigen/eigen3/Eigen/src/Core/VectorBlock.h +95 -0
- data/ext/eigen/eigen3/Eigen/src/Core/VectorwiseOp.h +642 -0
- data/ext/eigen/eigen3/Eigen/src/Core/Visitor.h +237 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/AltiVec/Complex.h +217 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h +501 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/Default/Settings.h +49 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/NEON/Complex.h +253 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h +420 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/SSE/Complex.h +442 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h +475 -0
- data/ext/eigen/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h +649 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/CoeffBasedProduct.h +476 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h +1341 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h +427 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h +278 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_MKL.h +146 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix_MKL.h +118 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixVector.h +566 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/GeneralMatrixVector_MKL.h +131 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/Parallelizer.h +162 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h +436 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix_MKL.h +295 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h +281 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector_MKL.h +114 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointProduct.h +123 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h +93 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h +427 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h +309 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h +348 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularMatrixVector_MKL.h +247 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h +332 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularSolverMatrix_MKL.h +155 -0
- data/ext/eigen/eigen3/Eigen/src/Core/products/TriangularSolverVector.h +139 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/BlasUtil.h +264 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Constants.h +451 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +40 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/ForwardDeclarations.h +302 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/MKL_support.h +158 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Macros.h +451 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Memory.h +977 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/Meta.h +243 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/NonMPL2.h +3 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h +14 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/StaticAssert.h +208 -0
- data/ext/eigen/eigen3/Eigen/src/Core/util/XprHelper.h +469 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Block.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Cwise.h +192 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/CwiseOperators.h +298 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/AlignedBox.h +159 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/All.h +115 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/AngleAxis.h +214 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Hyperplane.h +254 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h +141 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Quaternion.h +495 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Rotation2D.h +145 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/RotationBase.h +123 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Scaling.h +167 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Transform.h +786 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Geometry/Translation.h +184 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/LU.h +120 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Lazy.h +71 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/LeastSquares.h +169 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Macros.h +20 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/MathFunctions.h +57 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Memory.h +45 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Meta.h +75 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/Minor.h +117 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/QR.h +67 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/SVD.h +637 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/TriangularSolver.h +42 -0
- data/ext/eigen/eigen3/Eigen/src/Eigen2Support/VectorBlock.h +94 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h +341 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h +456 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/ComplexSchur_MKL.h +94 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/EigenSolver.h +607 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h +350 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h +227 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h +373 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h +160 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/RealQZ.h +624 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/RealSchur.h +525 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/RealSchur_MKL.h +83 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +801 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h +92 -0
- data/ext/eigen/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h +557 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/AlignedBox.h +392 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/AngleAxis.h +233 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/EulerAngles.h +104 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Homogeneous.h +307 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Hyperplane.h +280 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/OrthoMethods.h +218 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/ParametrizedLine.h +195 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Quaternion.h +776 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Rotation2D.h +160 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/RotationBase.h +206 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Scaling.h +166 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Transform.h +1455 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Translation.h +206 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/Umeyama.h +177 -0
- data/ext/eigen/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h +115 -0
- data/ext/eigen/eigen3/Eigen/src/Householder/BlockHouseholder.h +68 -0
- data/ext/eigen/eigen3/Eigen/src/Householder/Householder.h +171 -0
- data/ext/eigen/eigen3/Eigen/src/Householder/HouseholderSequence.h +441 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h +149 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h +263 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +256 -0
- data/ext/eigen/eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h +282 -0
- data/ext/eigen/eigen3/Eigen/src/Jacobi/Jacobi.h +433 -0
- data/ext/eigen/eigen3/Eigen/src/LU/Determinant.h +101 -0
- data/ext/eigen/eigen3/Eigen/src/LU/FullPivLU.h +751 -0
- data/ext/eigen/eigen3/Eigen/src/LU/Inverse.h +400 -0
- data/ext/eigen/eigen3/Eigen/src/LU/PartialPivLU.h +509 -0
- data/ext/eigen/eigen3/Eigen/src/LU/PartialPivLU_MKL.h +85 -0
- data/ext/eigen/eigen3/Eigen/src/LU/arch/Inverse_SSE.h +329 -0
- data/ext/eigen/eigen3/Eigen/src/MetisSupport/MetisSupport.h +137 -0
- data/ext/eigen/eigen3/Eigen/src/OrderingMethods/Amd.h +444 -0
- data/ext/eigen/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h +1850 -0
- data/ext/eigen/eigen3/Eigen/src/PaStiXSupport/PaStiXSupport.h +721 -0
- data/ext/eigen/eigen3/Eigen/src/PardisoSupport/PardisoSupport.h +592 -0
- data/ext/eigen/eigen3/Eigen/src/QR/ColPivHouseholderQR.h +580 -0
- data/ext/eigen/eigen3/Eigen/src/QR/ColPivHouseholderQR_MKL.h +99 -0
- data/ext/eigen/eigen3/Eigen/src/QR/FullPivHouseholderQR.h +622 -0
- data/ext/eigen/eigen3/Eigen/src/QR/HouseholderQR.h +388 -0
- data/ext/eigen/eigen3/Eigen/src/QR/HouseholderQR_MKL.h +71 -0
- data/ext/eigen/eigen3/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h +338 -0
- data/ext/eigen/eigen3/Eigen/src/SVD/JacobiSVD.h +976 -0
- data/ext/eigen/eigen3/Eigen/src/SVD/JacobiSVD_MKL.h +92 -0
- data/ext/eigen/eigen3/Eigen/src/SVD/UpperBidiagonalization.h +148 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h +671 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h +199 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/AmbiVector.h +373 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/CompressedStorage.h +233 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h +245 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h +181 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseBlock.h +537 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseColEtree.h +206 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h +325 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h +163 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h +311 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h +196 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseDot.h +101 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseFuzzy.h +26 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseMatrix.h +1262 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h +461 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparsePermutation.h +148 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseProduct.h +188 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseRedux.h +45 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h +507 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h +150 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseTranspose.h +63 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseTriangularView.h +179 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseUtil.h +172 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseVector.h +448 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/SparseView.h +99 -0
- data/ext/eigen/eigen3/Eigen/src/SparseCore/TriangularSolver.h +334 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU.h +806 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLUImpl.h +66 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_Memory.h +227 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_Structs.h +111 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h +298 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_Utils.h +80 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h +180 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h +177 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h +106 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h +279 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h +127 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h +130 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_panel_bmod.h +223 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_panel_dfs.h +258 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_pivotL.h +137 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_pruneL.h +135 -0
- data/ext/eigen/eigen3/Eigen/src/SparseLU/SparseLU_relax_snode.h +83 -0
- data/ext/eigen/eigen3/Eigen/src/SparseQR/SparseQR.h +714 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/StdDeque.h +134 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/StdList.h +114 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/StdVector.h +126 -0
- data/ext/eigen/eigen3/Eigen/src/StlSupport/details.h +84 -0
- data/ext/eigen/eigen3/Eigen/src/SuperLUSupport/SuperLUSupport.h +1026 -0
- data/ext/eigen/eigen3/Eigen/src/UmfPackSupport/UmfPackSupport.h +474 -0
- data/ext/eigen/eigen3/Eigen/src/misc/Image.h +84 -0
- data/ext/eigen/eigen3/Eigen/src/misc/Kernel.h +81 -0
- data/ext/eigen/eigen3/Eigen/src/misc/Solve.h +76 -0
- data/ext/eigen/eigen3/Eigen/src/misc/SparseSolve.h +128 -0
- data/ext/eigen/eigen3/Eigen/src/misc/blas.h +658 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/ArrayCwiseBinaryOps.h +253 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/ArrayCwiseUnaryOps.h +187 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/BlockMethods.h +935 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h +46 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h +172 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h +143 -0
- data/ext/eigen/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h +52 -0
- data/ext/eigen/eigen3/signature_of_eigen3_matrix_library +1 -0
- data/ext/eigen/eigen_wrap.cxx +19420 -10396
- data/ext/eigen/extconf.rb +37 -2
- data/lib/eigen.rb +146 -3
- metadata +294 -7
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
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// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
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namespace Eigen {
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/** \geometry_module \ingroup Geometry_Module
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*
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* \class Hyperplane
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*
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* \brief A hyperplane
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*
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* A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
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* For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
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*
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* \param _Scalar the scalar type, i.e., the type of the coefficients
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* \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
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* Notice that the dimension of the hyperplane is _AmbientDim-1.
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*
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* This class represents an hyperplane as the zero set of the implicit equation
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* \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
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* and \f$ d \f$ is the distance (offset) to the origin.
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*/
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template <typename _Scalar, int _AmbientDim>
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class Hyperplane
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
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enum { AmbientDimAtCompileTime = _AmbientDim };
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typedef _Scalar Scalar;
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typedef typename NumTraits<Scalar>::Real RealScalar;
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typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
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typedef Matrix<Scalar,int(AmbientDimAtCompileTime)==Dynamic
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? Dynamic
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: int(AmbientDimAtCompileTime)+1,1> Coefficients;
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typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
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/** Default constructor without initialization */
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inline Hyperplane() {}
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/** Constructs a dynamic-size hyperplane with \a _dim the dimension
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* of the ambient space */
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inline explicit Hyperplane(int _dim) : m_coeffs(_dim+1) {}
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/** Construct a plane from its normal \a n and a point \a e onto the plane.
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* \warning the vector normal is assumed to be normalized.
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*/
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inline Hyperplane(const VectorType& n, const VectorType& e)
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: m_coeffs(n.size()+1)
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{
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normal() = n;
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offset() = -e.eigen2_dot(n);
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}
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/** Constructs a plane from its normal \a n and distance to the origin \a d
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* such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
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* \warning the vector normal is assumed to be normalized.
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*/
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inline Hyperplane(const VectorType& n, Scalar d)
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: m_coeffs(n.size()+1)
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{
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normal() = n;
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offset() = d;
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}
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/** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
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* is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
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*/
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static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
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{
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Hyperplane result(p0.size());
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result.normal() = (p1 - p0).unitOrthogonal();
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result.offset() = -result.normal().eigen2_dot(p0);
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return result;
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}
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/** Constructs a hyperplane passing through the three points. The dimension of the ambient space
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* is required to be exactly 3.
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*/
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static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
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{
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
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Hyperplane result(p0.size());
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result.normal() = (p2 - p0).cross(p1 - p0).normalized();
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result.offset() = -result.normal().eigen2_dot(p0);
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return result;
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}
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/** Constructs a hyperplane passing through the parametrized line \a parametrized.
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* If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
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* so an arbitrary choice is made.
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*/
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// FIXME to be consitent with the rest this could be implemented as a static Through function ??
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explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
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{
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normal() = parametrized.direction().unitOrthogonal();
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offset() = -normal().eigen2_dot(parametrized.origin());
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}
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~Hyperplane() {}
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/** \returns the dimension in which the plane holds */
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inline int dim() const { return int(AmbientDimAtCompileTime)==Dynamic ? m_coeffs.size()-1 : int(AmbientDimAtCompileTime); }
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/** normalizes \c *this */
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void normalize(void)
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{
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m_coeffs /= normal().norm();
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}
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/** \returns the signed distance between the plane \c *this and a point \a p.
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* \sa absDistance()
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*/
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inline Scalar signedDistance(const VectorType& p) const { return p.eigen2_dot(normal()) + offset(); }
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/** \returns the absolute distance between the plane \c *this and a point \a p.
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* \sa signedDistance()
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*/
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inline Scalar absDistance(const VectorType& p) const { return ei_abs(signedDistance(p)); }
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/** \returns the projection of a point \a p onto the plane \c *this.
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*/
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inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
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/** \returns a constant reference to the unit normal vector of the plane, which corresponds
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* to the linear part of the implicit equation.
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*/
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inline const NormalReturnType normal() const { return NormalReturnType(*const_cast<Coefficients*>(&m_coeffs),0,0,dim(),1); }
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/** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
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* to the linear part of the implicit equation.
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*/
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inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
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/** \returns the distance to the origin, which is also the "constant term" of the implicit equation
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* \warning the vector normal is assumed to be normalized.
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*/
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inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
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/** \returns a non-constant reference to the distance to the origin, which is also the constant part
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* of the implicit equation */
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inline Scalar& offset() { return m_coeffs(dim()); }
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/** \returns a constant reference to the coefficients c_i of the plane equation:
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* \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
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*/
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inline const Coefficients& coeffs() const { return m_coeffs; }
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/** \returns a non-constant reference to the coefficients c_i of the plane equation:
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* \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
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*/
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inline Coefficients& coeffs() { return m_coeffs; }
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/** \returns the intersection of *this with \a other.
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*
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* \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
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*
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* \note If \a other is approximately parallel to *this, this method will return any point on *this.
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*/
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VectorType intersection(const Hyperplane& other)
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{
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
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Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
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// since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
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// whether the two lines are approximately parallel.
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if(ei_isMuchSmallerThan(det, Scalar(1)))
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{ // special case where the two lines are approximately parallel. Pick any point on the first line.
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if(ei_abs(coeffs().coeff(1))>ei_abs(coeffs().coeff(0)))
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return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
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else
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return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
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}
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else
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{ // general case
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Scalar invdet = Scalar(1) / det;
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return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
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invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
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}
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}
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/** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
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*
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* \param mat the Dim x Dim transformation matrix
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* \param traits specifies whether the matrix \a mat represents an Isometry
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* or a more generic Affine transformation. The default is Affine.
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*/
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template<typename XprType>
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inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
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{
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if (traits==Affine)
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normal() = mat.inverse().transpose() * normal();
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else if (traits==Isometry)
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normal() = mat * normal();
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else
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{
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ei_assert("invalid traits value in Hyperplane::transform()");
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}
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return *this;
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}
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/** Applies the transformation \a t to \c *this and returns a reference to \c *this.
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*
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* \param t the transformation of dimension Dim
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* \param traits specifies whether the transformation \a t represents an Isometry
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* or a more generic Affine transformation. The default is Affine.
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* Other kind of transformations are not supported.
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*/
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inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
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TransformTraits traits = Affine)
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{
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transform(t.linear(), traits);
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offset() -= t.translation().eigen2_dot(normal());
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return *this;
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}
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/** \returns \c *this with scalar type casted to \a NewScalarType
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*
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this
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* then this function smartly returns a const reference to \c *this.
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*/
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template<typename NewScalarType>
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inline typename internal::cast_return_type<Hyperplane,
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Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
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{
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return typename internal::cast_return_type<Hyperplane,
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Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
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}
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/** Copy constructor with scalar type conversion */
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template<typename OtherScalarType>
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inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime>& other)
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{ m_coeffs = other.coeffs().template cast<Scalar>(); }
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/** \returns \c true if \c *this is approximately equal to \a other, within the precision
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* determined by \a prec.
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*
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* \sa MatrixBase::isApprox() */
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bool isApprox(const Hyperplane& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
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{ return m_coeffs.isApprox(other.m_coeffs, prec); }
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protected:
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Coefficients m_coeffs;
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};
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} // end namespace Eigen
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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4
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// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
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// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
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namespace Eigen {
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/** \geometry_module \ingroup Geometry_Module
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*
|
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* \class ParametrizedLine
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*
|
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* \brief A parametrized line
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*
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* A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
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* direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
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* the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ l \in \mathbf{R} \f$.
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*
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* \param _Scalar the scalar type, i.e., the type of the coefficients
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26
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* \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
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*/
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template <typename _Scalar, int _AmbientDim>
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class ParametrizedLine
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
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enum { AmbientDimAtCompileTime = _AmbientDim };
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typedef _Scalar Scalar;
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35
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typedef typename NumTraits<Scalar>::Real RealScalar;
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36
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typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
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37
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|
38
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/** Default constructor without initialization */
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inline ParametrizedLine() {}
|
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/** Constructs a dynamic-size line with \a _dim the dimension
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* of the ambient space */
|
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inline explicit ParametrizedLine(int _dim) : m_origin(_dim), m_direction(_dim) {}
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+
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/** Initializes a parametrized line of direction \a direction and origin \a origin.
|
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* \warning the vector direction is assumed to be normalized.
|
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*/
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ParametrizedLine(const VectorType& origin, const VectorType& direction)
|
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: m_origin(origin), m_direction(direction) {}
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+
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explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
|
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+
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/** Constructs a parametrized line going from \a p0 to \a p1. */
|
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static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
|
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{ return ParametrizedLine(p0, (p1-p0).normalized()); }
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+
|
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~ParametrizedLine() {}
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+
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/** \returns the dimension in which the line holds */
|
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inline int dim() const { return m_direction.size(); }
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+
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const VectorType& origin() const { return m_origin; }
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VectorType& origin() { return m_origin; }
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const VectorType& direction() const { return m_direction; }
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VectorType& direction() { return m_direction; }
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+
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/** \returns the squared distance of a point \a p to its projection onto the line \c *this.
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* \sa distance()
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*/
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RealScalar squaredDistance(const VectorType& p) const
|
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{
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VectorType diff = p-origin();
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return (diff - diff.eigen2_dot(direction())* direction()).squaredNorm();
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}
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/** \returns the distance of a point \a p to its projection onto the line \c *this.
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* \sa squaredDistance()
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+
*/
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RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); }
|
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+
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/** \returns the projection of a point \a p onto the line \c *this. */
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VectorType projection(const VectorType& p) const
|
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{ return origin() + (p-origin()).eigen2_dot(direction()) * direction(); }
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+
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Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
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+
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/** \returns \c *this with scalar type casted to \a NewScalarType
|
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*
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
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* then this function smartly returns a const reference to \c *this.
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*/
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template<typename NewScalarType>
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inline typename internal::cast_return_type<ParametrizedLine,
|
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ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
|
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{
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return typename internal::cast_return_type<ParametrizedLine,
|
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ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
|
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}
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+
|
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/** Copy constructor with scalar type conversion */
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template<typename OtherScalarType>
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inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime>& other)
|
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{
|
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m_origin = other.origin().template cast<Scalar>();
|
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m_direction = other.direction().template cast<Scalar>();
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}
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+
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/** \returns \c true if \c *this is approximately equal to \a other, within the precision
|
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+
* determined by \a prec.
|
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*
|
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|
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* \sa MatrixBase::isApprox() */
|
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|
+
bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
|
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|
+
{ return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
|
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+
|
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+
protected:
|
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+
|
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|
+
VectorType m_origin, m_direction;
|
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|
+
};
|
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+
|
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|
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/** Constructs a parametrized line from a 2D hyperplane
|
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*
|
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|
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* \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
|
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|
+
*/
|
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|
+
template <typename _Scalar, int _AmbientDim>
|
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|
+
inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
|
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|
+
{
|
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|
+
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
|
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|
+
direction() = hyperplane.normal().unitOrthogonal();
|
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|
+
origin() = -hyperplane.normal()*hyperplane.offset();
|
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|
+
}
|
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+
|
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|
+
/** \returns the parameter value of the intersection between \c *this and the given hyperplane
|
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|
+
*/
|
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|
+
template <typename _Scalar, int _AmbientDim>
|
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|
+
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
|
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|
+
{
|
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|
+
return -(hyperplane.offset()+origin().eigen2_dot(hyperplane.normal()))
|
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|
+
/(direction().eigen2_dot(hyperplane.normal()));
|
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|
+
}
|
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|
+
|
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|
+
} // end namespace Eigen
|
@@ -0,0 +1,495 @@
|
|
1
|
+
// This file is part of Eigen, a lightweight C++ template library
|
2
|
+
// for linear algebra.
|
3
|
+
//
|
4
|
+
// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
|
5
|
+
//
|
6
|
+
// This Source Code Form is subject to the terms of the Mozilla
|
7
|
+
// Public License v. 2.0. If a copy of the MPL was not distributed
|
8
|
+
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
9
|
+
|
10
|
+
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
|
11
|
+
|
12
|
+
namespace Eigen {
|
13
|
+
|
14
|
+
template<typename Other,
|
15
|
+
int OtherRows=Other::RowsAtCompileTime,
|
16
|
+
int OtherCols=Other::ColsAtCompileTime>
|
17
|
+
struct ei_quaternion_assign_impl;
|
18
|
+
|
19
|
+
/** \geometry_module \ingroup Geometry_Module
|
20
|
+
*
|
21
|
+
* \class Quaternion
|
22
|
+
*
|
23
|
+
* \brief The quaternion class used to represent 3D orientations and rotations
|
24
|
+
*
|
25
|
+
* \param _Scalar the scalar type, i.e., the type of the coefficients
|
26
|
+
*
|
27
|
+
* This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
|
28
|
+
* orientations and rotations of objects in three dimensions. Compared to other representations
|
29
|
+
* like Euler angles or 3x3 matrices, quatertions offer the following advantages:
|
30
|
+
* \li \b compact storage (4 scalars)
|
31
|
+
* \li \b efficient to compose (28 flops),
|
32
|
+
* \li \b stable spherical interpolation
|
33
|
+
*
|
34
|
+
* The following two typedefs are provided for convenience:
|
35
|
+
* \li \c Quaternionf for \c float
|
36
|
+
* \li \c Quaterniond for \c double
|
37
|
+
*
|
38
|
+
* \sa class AngleAxis, class Transform
|
39
|
+
*/
|
40
|
+
|
41
|
+
template<typename _Scalar> struct ei_traits<Quaternion<_Scalar> >
|
42
|
+
{
|
43
|
+
typedef _Scalar Scalar;
|
44
|
+
};
|
45
|
+
|
46
|
+
template<typename _Scalar>
|
47
|
+
class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
|
48
|
+
{
|
49
|
+
typedef RotationBase<Quaternion<_Scalar>,3> Base;
|
50
|
+
|
51
|
+
public:
|
52
|
+
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
|
53
|
+
|
54
|
+
using Base::operator*;
|
55
|
+
|
56
|
+
/** the scalar type of the coefficients */
|
57
|
+
typedef _Scalar Scalar;
|
58
|
+
|
59
|
+
/** the type of the Coefficients 4-vector */
|
60
|
+
typedef Matrix<Scalar, 4, 1> Coefficients;
|
61
|
+
/** the type of a 3D vector */
|
62
|
+
typedef Matrix<Scalar,3,1> Vector3;
|
63
|
+
/** the equivalent rotation matrix type */
|
64
|
+
typedef Matrix<Scalar,3,3> Matrix3;
|
65
|
+
/** the equivalent angle-axis type */
|
66
|
+
typedef AngleAxis<Scalar> AngleAxisType;
|
67
|
+
|
68
|
+
/** \returns the \c x coefficient */
|
69
|
+
inline Scalar x() const { return m_coeffs.coeff(0); }
|
70
|
+
/** \returns the \c y coefficient */
|
71
|
+
inline Scalar y() const { return m_coeffs.coeff(1); }
|
72
|
+
/** \returns the \c z coefficient */
|
73
|
+
inline Scalar z() const { return m_coeffs.coeff(2); }
|
74
|
+
/** \returns the \c w coefficient */
|
75
|
+
inline Scalar w() const { return m_coeffs.coeff(3); }
|
76
|
+
|
77
|
+
/** \returns a reference to the \c x coefficient */
|
78
|
+
inline Scalar& x() { return m_coeffs.coeffRef(0); }
|
79
|
+
/** \returns a reference to the \c y coefficient */
|
80
|
+
inline Scalar& y() { return m_coeffs.coeffRef(1); }
|
81
|
+
/** \returns a reference to the \c z coefficient */
|
82
|
+
inline Scalar& z() { return m_coeffs.coeffRef(2); }
|
83
|
+
/** \returns a reference to the \c w coefficient */
|
84
|
+
inline Scalar& w() { return m_coeffs.coeffRef(3); }
|
85
|
+
|
86
|
+
/** \returns a read-only vector expression of the imaginary part (x,y,z) */
|
87
|
+
inline const Block<const Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
|
88
|
+
|
89
|
+
/** \returns a vector expression of the imaginary part (x,y,z) */
|
90
|
+
inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
|
91
|
+
|
92
|
+
/** \returns a read-only vector expression of the coefficients (x,y,z,w) */
|
93
|
+
inline const Coefficients& coeffs() const { return m_coeffs; }
|
94
|
+
|
95
|
+
/** \returns a vector expression of the coefficients (x,y,z,w) */
|
96
|
+
inline Coefficients& coeffs() { return m_coeffs; }
|
97
|
+
|
98
|
+
/** Default constructor leaving the quaternion uninitialized. */
|
99
|
+
inline Quaternion() {}
|
100
|
+
|
101
|
+
/** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
|
102
|
+
* its four coefficients \a w, \a x, \a y and \a z.
|
103
|
+
*
|
104
|
+
* \warning Note the order of the arguments: the real \a w coefficient first,
|
105
|
+
* while internally the coefficients are stored in the following order:
|
106
|
+
* [\c x, \c y, \c z, \c w]
|
107
|
+
*/
|
108
|
+
inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z)
|
109
|
+
{ m_coeffs << x, y, z, w; }
|
110
|
+
|
111
|
+
/** Copy constructor */
|
112
|
+
inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
|
113
|
+
|
114
|
+
/** Constructs and initializes a quaternion from the angle-axis \a aa */
|
115
|
+
explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
|
116
|
+
|
117
|
+
/** Constructs and initializes a quaternion from either:
|
118
|
+
* - a rotation matrix expression,
|
119
|
+
* - a 4D vector expression representing quaternion coefficients.
|
120
|
+
* \sa operator=(MatrixBase<Derived>)
|
121
|
+
*/
|
122
|
+
template<typename Derived>
|
123
|
+
explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
|
124
|
+
|
125
|
+
Quaternion& operator=(const Quaternion& other);
|
126
|
+
Quaternion& operator=(const AngleAxisType& aa);
|
127
|
+
template<typename Derived>
|
128
|
+
Quaternion& operator=(const MatrixBase<Derived>& m);
|
129
|
+
|
130
|
+
/** \returns a quaternion representing an identity rotation
|
131
|
+
* \sa MatrixBase::Identity()
|
132
|
+
*/
|
133
|
+
static inline Quaternion Identity() { return Quaternion(1, 0, 0, 0); }
|
134
|
+
|
135
|
+
/** \sa Quaternion::Identity(), MatrixBase::setIdentity()
|
136
|
+
*/
|
137
|
+
inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; }
|
138
|
+
|
139
|
+
/** \returns the squared norm of the quaternion's coefficients
|
140
|
+
* \sa Quaternion::norm(), MatrixBase::squaredNorm()
|
141
|
+
*/
|
142
|
+
inline Scalar squaredNorm() const { return m_coeffs.squaredNorm(); }
|
143
|
+
|
144
|
+
/** \returns the norm of the quaternion's coefficients
|
145
|
+
* \sa Quaternion::squaredNorm(), MatrixBase::norm()
|
146
|
+
*/
|
147
|
+
inline Scalar norm() const { return m_coeffs.norm(); }
|
148
|
+
|
149
|
+
/** Normalizes the quaternion \c *this
|
150
|
+
* \sa normalized(), MatrixBase::normalize() */
|
151
|
+
inline void normalize() { m_coeffs.normalize(); }
|
152
|
+
/** \returns a normalized version of \c *this
|
153
|
+
* \sa normalize(), MatrixBase::normalized() */
|
154
|
+
inline Quaternion normalized() const { return Quaternion(m_coeffs.normalized()); }
|
155
|
+
|
156
|
+
/** \returns the dot product of \c *this and \a other
|
157
|
+
* Geometrically speaking, the dot product of two unit quaternions
|
158
|
+
* corresponds to the cosine of half the angle between the two rotations.
|
159
|
+
* \sa angularDistance()
|
160
|
+
*/
|
161
|
+
inline Scalar eigen2_dot(const Quaternion& other) const { return m_coeffs.eigen2_dot(other.m_coeffs); }
|
162
|
+
|
163
|
+
inline Scalar angularDistance(const Quaternion& other) const;
|
164
|
+
|
165
|
+
Matrix3 toRotationMatrix(void) const;
|
166
|
+
|
167
|
+
template<typename Derived1, typename Derived2>
|
168
|
+
Quaternion& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
|
169
|
+
|
170
|
+
inline Quaternion operator* (const Quaternion& q) const;
|
171
|
+
inline Quaternion& operator*= (const Quaternion& q);
|
172
|
+
|
173
|
+
Quaternion inverse(void) const;
|
174
|
+
Quaternion conjugate(void) const;
|
175
|
+
|
176
|
+
Quaternion slerp(Scalar t, const Quaternion& other) const;
|
177
|
+
|
178
|
+
template<typename Derived>
|
179
|
+
Vector3 operator* (const MatrixBase<Derived>& vec) const;
|
180
|
+
|
181
|
+
/** \returns \c *this with scalar type casted to \a NewScalarType
|
182
|
+
*
|
183
|
+
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
184
|
+
* then this function smartly returns a const reference to \c *this.
|
185
|
+
*/
|
186
|
+
template<typename NewScalarType>
|
187
|
+
inline typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const
|
188
|
+
{ return typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); }
|
189
|
+
|
190
|
+
/** Copy constructor with scalar type conversion */
|
191
|
+
template<typename OtherScalarType>
|
192
|
+
inline explicit Quaternion(const Quaternion<OtherScalarType>& other)
|
193
|
+
{ m_coeffs = other.coeffs().template cast<Scalar>(); }
|
194
|
+
|
195
|
+
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
|
196
|
+
* determined by \a prec.
|
197
|
+
*
|
198
|
+
* \sa MatrixBase::isApprox() */
|
199
|
+
bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
|
200
|
+
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
|
201
|
+
|
202
|
+
protected:
|
203
|
+
Coefficients m_coeffs;
|
204
|
+
};
|
205
|
+
|
206
|
+
/** \ingroup Geometry_Module
|
207
|
+
* single precision quaternion type */
|
208
|
+
typedef Quaternion<float> Quaternionf;
|
209
|
+
/** \ingroup Geometry_Module
|
210
|
+
* double precision quaternion type */
|
211
|
+
typedef Quaternion<double> Quaterniond;
|
212
|
+
|
213
|
+
// Generic Quaternion * Quaternion product
|
214
|
+
template<typename Scalar> inline Quaternion<Scalar>
|
215
|
+
ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
|
216
|
+
{
|
217
|
+
return Quaternion<Scalar>
|
218
|
+
(
|
219
|
+
a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
|
220
|
+
a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
|
221
|
+
a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
|
222
|
+
a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
|
223
|
+
);
|
224
|
+
}
|
225
|
+
|
226
|
+
/** \returns the concatenation of two rotations as a quaternion-quaternion product */
|
227
|
+
template <typename Scalar>
|
228
|
+
inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
|
229
|
+
{
|
230
|
+
return ei_quaternion_product(*this,other);
|
231
|
+
}
|
232
|
+
|
233
|
+
/** \sa operator*(Quaternion) */
|
234
|
+
template <typename Scalar>
|
235
|
+
inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& other)
|
236
|
+
{
|
237
|
+
return (*this = *this * other);
|
238
|
+
}
|
239
|
+
|
240
|
+
/** Rotation of a vector by a quaternion.
|
241
|
+
* \remarks If the quaternion is used to rotate several points (>1)
|
242
|
+
* then it is much more efficient to first convert it to a 3x3 Matrix.
|
243
|
+
* Comparison of the operation cost for n transformations:
|
244
|
+
* - Quaternion: 30n
|
245
|
+
* - Via a Matrix3: 24 + 15n
|
246
|
+
*/
|
247
|
+
template <typename Scalar>
|
248
|
+
template<typename Derived>
|
249
|
+
inline typename Quaternion<Scalar>::Vector3
|
250
|
+
Quaternion<Scalar>::operator* (const MatrixBase<Derived>& v) const
|
251
|
+
{
|
252
|
+
// Note that this algorithm comes from the optimization by hand
|
253
|
+
// of the conversion to a Matrix followed by a Matrix/Vector product.
|
254
|
+
// It appears to be much faster than the common algorithm found
|
255
|
+
// in the litterature (30 versus 39 flops). It also requires two
|
256
|
+
// Vector3 as temporaries.
|
257
|
+
Vector3 uv;
|
258
|
+
uv = 2 * this->vec().cross(v);
|
259
|
+
return v + this->w() * uv + this->vec().cross(uv);
|
260
|
+
}
|
261
|
+
|
262
|
+
template<typename Scalar>
|
263
|
+
inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const Quaternion& other)
|
264
|
+
{
|
265
|
+
m_coeffs = other.m_coeffs;
|
266
|
+
return *this;
|
267
|
+
}
|
268
|
+
|
269
|
+
/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
|
270
|
+
*/
|
271
|
+
template<typename Scalar>
|
272
|
+
inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa)
|
273
|
+
{
|
274
|
+
Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
|
275
|
+
this->w() = ei_cos(ha);
|
276
|
+
this->vec() = ei_sin(ha) * aa.axis();
|
277
|
+
return *this;
|
278
|
+
}
|
279
|
+
|
280
|
+
/** Set \c *this from the expression \a xpr:
|
281
|
+
* - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
|
282
|
+
* - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
|
283
|
+
* and \a xpr is converted to a quaternion
|
284
|
+
*/
|
285
|
+
template<typename Scalar>
|
286
|
+
template<typename Derived>
|
287
|
+
inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const MatrixBase<Derived>& xpr)
|
288
|
+
{
|
289
|
+
ei_quaternion_assign_impl<Derived>::run(*this, xpr.derived());
|
290
|
+
return *this;
|
291
|
+
}
|
292
|
+
|
293
|
+
/** Convert the quaternion to a 3x3 rotation matrix */
|
294
|
+
template<typename Scalar>
|
295
|
+
inline typename Quaternion<Scalar>::Matrix3
|
296
|
+
Quaternion<Scalar>::toRotationMatrix(void) const
|
297
|
+
{
|
298
|
+
// NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
|
299
|
+
// if not inlined then the cost of the return by value is huge ~ +35%,
|
300
|
+
// however, not inlining this function is an order of magnitude slower, so
|
301
|
+
// it has to be inlined, and so the return by value is not an issue
|
302
|
+
Matrix3 res;
|
303
|
+
|
304
|
+
const Scalar tx = Scalar(2)*this->x();
|
305
|
+
const Scalar ty = Scalar(2)*this->y();
|
306
|
+
const Scalar tz = Scalar(2)*this->z();
|
307
|
+
const Scalar twx = tx*this->w();
|
308
|
+
const Scalar twy = ty*this->w();
|
309
|
+
const Scalar twz = tz*this->w();
|
310
|
+
const Scalar txx = tx*this->x();
|
311
|
+
const Scalar txy = ty*this->x();
|
312
|
+
const Scalar txz = tz*this->x();
|
313
|
+
const Scalar tyy = ty*this->y();
|
314
|
+
const Scalar tyz = tz*this->y();
|
315
|
+
const Scalar tzz = tz*this->z();
|
316
|
+
|
317
|
+
res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
|
318
|
+
res.coeffRef(0,1) = txy-twz;
|
319
|
+
res.coeffRef(0,2) = txz+twy;
|
320
|
+
res.coeffRef(1,0) = txy+twz;
|
321
|
+
res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
|
322
|
+
res.coeffRef(1,2) = tyz-twx;
|
323
|
+
res.coeffRef(2,0) = txz-twy;
|
324
|
+
res.coeffRef(2,1) = tyz+twx;
|
325
|
+
res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
|
326
|
+
|
327
|
+
return res;
|
328
|
+
}
|
329
|
+
|
330
|
+
/** Sets *this to be a quaternion representing a rotation sending the vector \a a to the vector \a b.
|
331
|
+
*
|
332
|
+
* \returns a reference to *this.
|
333
|
+
*
|
334
|
+
* Note that the two input vectors do \b not have to be normalized.
|
335
|
+
*/
|
336
|
+
template<typename Scalar>
|
337
|
+
template<typename Derived1, typename Derived2>
|
338
|
+
inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
|
339
|
+
{
|
340
|
+
Vector3 v0 = a.normalized();
|
341
|
+
Vector3 v1 = b.normalized();
|
342
|
+
Scalar c = v0.eigen2_dot(v1);
|
343
|
+
|
344
|
+
// if dot == 1, vectors are the same
|
345
|
+
if (ei_isApprox(c,Scalar(1)))
|
346
|
+
{
|
347
|
+
// set to identity
|
348
|
+
this->w() = 1; this->vec().setZero();
|
349
|
+
return *this;
|
350
|
+
}
|
351
|
+
// if dot == -1, vectors are opposites
|
352
|
+
if (ei_isApprox(c,Scalar(-1)))
|
353
|
+
{
|
354
|
+
this->vec() = v0.unitOrthogonal();
|
355
|
+
this->w() = 0;
|
356
|
+
return *this;
|
357
|
+
}
|
358
|
+
|
359
|
+
Vector3 axis = v0.cross(v1);
|
360
|
+
Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
|
361
|
+
Scalar invs = Scalar(1)/s;
|
362
|
+
this->vec() = axis * invs;
|
363
|
+
this->w() = s * Scalar(0.5);
|
364
|
+
|
365
|
+
return *this;
|
366
|
+
}
|
367
|
+
|
368
|
+
/** \returns the multiplicative inverse of \c *this
|
369
|
+
* Note that in most cases, i.e., if you simply want the opposite rotation,
|
370
|
+
* and/or the quaternion is normalized, then it is enough to use the conjugate.
|
371
|
+
*
|
372
|
+
* \sa Quaternion::conjugate()
|
373
|
+
*/
|
374
|
+
template <typename Scalar>
|
375
|
+
inline Quaternion<Scalar> Quaternion<Scalar>::inverse() const
|
376
|
+
{
|
377
|
+
// FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite() ??
|
378
|
+
Scalar n2 = this->squaredNorm();
|
379
|
+
if (n2 > 0)
|
380
|
+
return Quaternion(conjugate().coeffs() / n2);
|
381
|
+
else
|
382
|
+
{
|
383
|
+
// return an invalid result to flag the error
|
384
|
+
return Quaternion(Coefficients::Zero());
|
385
|
+
}
|
386
|
+
}
|
387
|
+
|
388
|
+
/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
|
389
|
+
* if the quaternion is normalized.
|
390
|
+
* The conjugate of a quaternion represents the opposite rotation.
|
391
|
+
*
|
392
|
+
* \sa Quaternion::inverse()
|
393
|
+
*/
|
394
|
+
template <typename Scalar>
|
395
|
+
inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
|
396
|
+
{
|
397
|
+
return Quaternion(this->w(),-this->x(),-this->y(),-this->z());
|
398
|
+
}
|
399
|
+
|
400
|
+
/** \returns the angle (in radian) between two rotations
|
401
|
+
* \sa eigen2_dot()
|
402
|
+
*/
|
403
|
+
template <typename Scalar>
|
404
|
+
inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
|
405
|
+
{
|
406
|
+
double d = ei_abs(this->eigen2_dot(other));
|
407
|
+
if (d>=1.0)
|
408
|
+
return 0;
|
409
|
+
return Scalar(2) * std::acos(d);
|
410
|
+
}
|
411
|
+
|
412
|
+
/** \returns the spherical linear interpolation between the two quaternions
|
413
|
+
* \c *this and \a other at the parameter \a t
|
414
|
+
*/
|
415
|
+
template <typename Scalar>
|
416
|
+
Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
|
417
|
+
{
|
418
|
+
static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
|
419
|
+
Scalar d = this->eigen2_dot(other);
|
420
|
+
Scalar absD = ei_abs(d);
|
421
|
+
|
422
|
+
Scalar scale0;
|
423
|
+
Scalar scale1;
|
424
|
+
|
425
|
+
if (absD>=one)
|
426
|
+
{
|
427
|
+
scale0 = Scalar(1) - t;
|
428
|
+
scale1 = t;
|
429
|
+
}
|
430
|
+
else
|
431
|
+
{
|
432
|
+
// theta is the angle between the 2 quaternions
|
433
|
+
Scalar theta = std::acos(absD);
|
434
|
+
Scalar sinTheta = ei_sin(theta);
|
435
|
+
|
436
|
+
scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
|
437
|
+
scale1 = ei_sin( ( t * theta) ) / sinTheta;
|
438
|
+
if (d<0)
|
439
|
+
scale1 = -scale1;
|
440
|
+
}
|
441
|
+
|
442
|
+
return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
|
443
|
+
}
|
444
|
+
|
445
|
+
// set from a rotation matrix
|
446
|
+
template<typename Other>
|
447
|
+
struct ei_quaternion_assign_impl<Other,3,3>
|
448
|
+
{
|
449
|
+
typedef typename Other::Scalar Scalar;
|
450
|
+
static inline void run(Quaternion<Scalar>& q, const Other& mat)
|
451
|
+
{
|
452
|
+
// This algorithm comes from "Quaternion Calculus and Fast Animation",
|
453
|
+
// Ken Shoemake, 1987 SIGGRAPH course notes
|
454
|
+
Scalar t = mat.trace();
|
455
|
+
if (t > 0)
|
456
|
+
{
|
457
|
+
t = ei_sqrt(t + Scalar(1.0));
|
458
|
+
q.w() = Scalar(0.5)*t;
|
459
|
+
t = Scalar(0.5)/t;
|
460
|
+
q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
|
461
|
+
q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
|
462
|
+
q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
|
463
|
+
}
|
464
|
+
else
|
465
|
+
{
|
466
|
+
int i = 0;
|
467
|
+
if (mat.coeff(1,1) > mat.coeff(0,0))
|
468
|
+
i = 1;
|
469
|
+
if (mat.coeff(2,2) > mat.coeff(i,i))
|
470
|
+
i = 2;
|
471
|
+
int j = (i+1)%3;
|
472
|
+
int k = (j+1)%3;
|
473
|
+
|
474
|
+
t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
|
475
|
+
q.coeffs().coeffRef(i) = Scalar(0.5) * t;
|
476
|
+
t = Scalar(0.5)/t;
|
477
|
+
q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
|
478
|
+
q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
|
479
|
+
q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
|
480
|
+
}
|
481
|
+
}
|
482
|
+
};
|
483
|
+
|
484
|
+
// set from a vector of coefficients assumed to be a quaternion
|
485
|
+
template<typename Other>
|
486
|
+
struct ei_quaternion_assign_impl<Other,4,1>
|
487
|
+
{
|
488
|
+
typedef typename Other::Scalar Scalar;
|
489
|
+
static inline void run(Quaternion<Scalar>& q, const Other& vec)
|
490
|
+
{
|
491
|
+
q.coeffs() = vec;
|
492
|
+
}
|
493
|
+
};
|
494
|
+
|
495
|
+
} // end namespace Eigen
|