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) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
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// Copyright (C) 2006-2008 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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#ifndef EIGEN_ORTHOMETHODS_H
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#define EIGEN_ORTHOMETHODS_H
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namespace Eigen {
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/** \geometry_module
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*
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* \returns the cross product of \c *this and \a other
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*
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* Here is a very good explanation of cross-product: http://xkcd.com/199/
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* \sa MatrixBase::cross3()
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*/
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template<typename Derived>
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template<typename OtherDerived>
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inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
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MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
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{
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
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// Note that there is no need for an expression here since the compiler
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// optimize such a small temporary very well (even within a complex expression)
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typename internal::nested<Derived,2>::type lhs(derived());
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typename internal::nested<OtherDerived,2>::type rhs(other.derived());
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return typename cross_product_return_type<OtherDerived>::type(
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numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
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numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
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numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0))
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);
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}
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namespace internal {
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template< int Arch,typename VectorLhs,typename VectorRhs,
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typename Scalar = typename VectorLhs::Scalar,
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bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit)>
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struct cross3_impl {
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static inline typename internal::plain_matrix_type<VectorLhs>::type
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run(const VectorLhs& lhs, const VectorRhs& rhs)
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{
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return typename internal::plain_matrix_type<VectorLhs>::type(
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numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
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numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
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numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)),
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0
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);
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}
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};
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}
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/** \geometry_module
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*
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* \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
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*
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* The size of \c *this and \a other must be four. This function is especially useful
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* when using 4D vectors instead of 3D ones to get advantage of SSE/AltiVec vectorization.
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*
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* \sa MatrixBase::cross()
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*/
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template<typename Derived>
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template<typename OtherDerived>
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inline typename MatrixBase<Derived>::PlainObject
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MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
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{
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
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typedef typename internal::nested<Derived,2>::type DerivedNested;
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typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested;
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DerivedNested lhs(derived());
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OtherDerivedNested rhs(other.derived());
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return internal::cross3_impl<Architecture::Target,
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typename internal::remove_all<DerivedNested>::type,
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typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
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}
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/** \returns a matrix expression of the cross product of each column or row
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* of the referenced expression with the \a other vector.
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*
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* The referenced matrix must have one dimension equal to 3.
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* The result matrix has the same dimensions than the referenced one.
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*
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* \geometry_module
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*
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* \sa MatrixBase::cross() */
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template<typename ExpressionType, int Direction>
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template<typename OtherDerived>
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const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
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VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
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{
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EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
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EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
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YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
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CrossReturnType res(_expression().rows(),_expression().cols());
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if(Direction==Vertical)
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{
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eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
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res.row(0) = (_expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1)).conjugate();
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res.row(1) = (_expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2)).conjugate();
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res.row(2) = (_expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0)).conjugate();
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}
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else
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{
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eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
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res.col(0) = (_expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1)).conjugate();
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res.col(1) = (_expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2)).conjugate();
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res.col(2) = (_expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0)).conjugate();
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}
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return res;
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}
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namespace internal {
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template<typename Derived, int Size = Derived::SizeAtCompileTime>
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struct unitOrthogonal_selector
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{
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typedef typename plain_matrix_type<Derived>::type VectorType;
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typedef typename traits<Derived>::Scalar Scalar;
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typedef typename NumTraits<Scalar>::Real RealScalar;
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typedef typename Derived::Index Index;
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typedef Matrix<Scalar,2,1> Vector2;
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static inline VectorType run(const Derived& src)
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{
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VectorType perp = VectorType::Zero(src.size());
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Index maxi = 0;
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Index sndi = 0;
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src.cwiseAbs().maxCoeff(&maxi);
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if (maxi==0)
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sndi = 1;
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RealScalar invnm = RealScalar(1)/(Vector2() << src.coeff(sndi),src.coeff(maxi)).finished().norm();
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perp.coeffRef(maxi) = -numext::conj(src.coeff(sndi)) * invnm;
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perp.coeffRef(sndi) = numext::conj(src.coeff(maxi)) * invnm;
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return perp;
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}
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};
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template<typename Derived>
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struct unitOrthogonal_selector<Derived,3>
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{
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typedef typename plain_matrix_type<Derived>::type VectorType;
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typedef typename traits<Derived>::Scalar Scalar;
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typedef typename NumTraits<Scalar>::Real RealScalar;
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static inline VectorType run(const Derived& src)
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{
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VectorType perp;
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/* Let us compute the crossed product of *this with a vector
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* that is not too close to being colinear to *this.
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*/
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/* unless the x and y coords are both close to zero, we can
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* simply take ( -y, x, 0 ) and normalize it.
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*/
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if((!isMuchSmallerThan(src.x(), src.z()))
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|| (!isMuchSmallerThan(src.y(), src.z())))
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{
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RealScalar invnm = RealScalar(1)/src.template head<2>().norm();
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perp.coeffRef(0) = -numext::conj(src.y())*invnm;
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perp.coeffRef(1) = numext::conj(src.x())*invnm;
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perp.coeffRef(2) = 0;
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}
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/* if both x and y are close to zero, then the vector is close
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* to the z-axis, so it's far from colinear to the x-axis for instance.
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* So we take the crossed product with (1,0,0) and normalize it.
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*/
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else
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{
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RealScalar invnm = RealScalar(1)/src.template tail<2>().norm();
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perp.coeffRef(0) = 0;
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perp.coeffRef(1) = -numext::conj(src.z())*invnm;
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perp.coeffRef(2) = numext::conj(src.y())*invnm;
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}
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return perp;
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}
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};
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template<typename Derived>
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struct unitOrthogonal_selector<Derived,2>
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{
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typedef typename plain_matrix_type<Derived>::type VectorType;
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static inline VectorType run(const Derived& src)
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{ return VectorType(-numext::conj(src.y()), numext::conj(src.x())).normalized(); }
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};
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} // end namespace internal
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/** \returns a unit vector which is orthogonal to \c *this
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*
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* The size of \c *this must be at least 2. If the size is exactly 2,
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* then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
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*
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* \sa cross()
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*/
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template<typename Derived>
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typename MatrixBase<Derived>::PlainObject
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MatrixBase<Derived>::unitOrthogonal() const
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{
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EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
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return internal::unitOrthogonal_selector<Derived>::run(derived());
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}
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} // end namespace Eigen
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#endif // EIGEN_ORTHOMETHODS_H
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// This file is part of Eigen, a lightweight C++ template library
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2
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// for linear algebra.
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3
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//
|
4
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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5
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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
|
8
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// Public License v. 2.0. If a copy of the MPL was not distributed
|
9
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_PARAMETRIZEDLINE_H
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#define EIGEN_PARAMETRIZEDLINE_H
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|
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namespace Eigen {
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|
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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$, \f$ t \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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27
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* \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
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28
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*/
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template <typename _Scalar, int _AmbientDim, int _Options>
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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 {
|
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AmbientDimAtCompileTime = _AmbientDim,
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Options = _Options
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37
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};
|
38
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typedef _Scalar Scalar;
|
39
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typedef typename NumTraits<Scalar>::Real RealScalar;
|
40
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typedef DenseIndex Index;
|
41
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typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
|
42
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|
43
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/** Default constructor without initialization */
|
44
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inline ParametrizedLine() {}
|
45
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+
|
46
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template<int OtherOptions>
|
47
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ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
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: m_origin(other.origin()), m_direction(other.direction())
|
49
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{}
|
50
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+
|
51
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/** Constructs a dynamic-size line with \a _dim the dimension
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52
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* of the ambient space */
|
53
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inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
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54
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|
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/** Initializes a parametrized line of direction \a direction and origin \a origin.
|
56
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* \warning the vector direction is assumed to be normalized.
|
57
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+
*/
|
58
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ParametrizedLine(const VectorType& origin, const VectorType& direction)
|
59
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+
: m_origin(origin), m_direction(direction) {}
|
60
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+
|
61
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template <int OtherOptions>
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62
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explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
|
63
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+
|
64
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/** Constructs a parametrized line going from \a p0 to \a p1. */
|
65
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static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
|
66
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{ return ParametrizedLine(p0, (p1-p0).normalized()); }
|
67
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+
|
68
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+
~ParametrizedLine() {}
|
69
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+
|
70
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/** \returns the dimension in which the line holds */
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71
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+
inline Index dim() const { return m_direction.size(); }
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72
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+
|
73
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+
const VectorType& origin() const { return m_origin; }
|
74
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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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/** \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 - direction().dot(diff) * 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 { using std::sqrt; return 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() + direction().dot(p-origin()) * direction(); }
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VectorType pointAt(const Scalar& t) const;
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template <int OtherOptions>
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Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
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template <int OtherOptions>
|
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Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
|
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template <int OtherOptions>
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VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
|
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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,Options> >::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,Options> >::type(*this);
|
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}
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/** Copy constructor with scalar type conversion */
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template<typename OtherScalarType,int OtherOptions>
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inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& 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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/** \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 ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) 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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VectorType m_origin, m_direction;
|
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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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* \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, int _Options>
|
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template <int OtherOptions>
|
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|
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inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& 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 point at \a t along this line
|
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|
+
*/
|
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|
+
template <typename _Scalar, int _AmbientDim, int _Options>
|
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|
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inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
|
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|
+
ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
|
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|
+
{
|
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|
+
return origin() + (direction()*t);
|
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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 \a hyperplane
|
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+
*/
|
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|
+
template <typename _Scalar, int _AmbientDim, int _Options>
|
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template <int OtherOptions>
|
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|
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inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
|
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|
+
{
|
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|
+
return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
|
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|
+
/ hyperplane.normal().dot(direction());
|
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|
+
}
|
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+
|
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+
|
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|
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/** \deprecated use intersectionParameter()
|
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|
+
* \returns the parameter value of the intersection between \c *this and the given \a hyperplane
|
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|
+
*/
|
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|
+
template <typename _Scalar, int _AmbientDim, int _Options>
|
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|
+
template <int OtherOptions>
|
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|
+
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
|
179
|
+
{
|
180
|
+
return intersectionParameter(hyperplane);
|
181
|
+
}
|
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|
+
|
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|
+
/** \returns the point of the intersection between \c *this and the given hyperplane
|
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|
+
*/
|
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|
+
template <typename _Scalar, int _AmbientDim, int _Options>
|
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|
+
template <int OtherOptions>
|
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|
+
inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
|
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|
+
ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
|
189
|
+
{
|
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|
+
return pointAt(intersectionParameter(hyperplane));
|
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|
+
}
|
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|
+
|
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|
+
} // end namespace Eigen
|
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|
+
|
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|
+
#endif // EIGEN_PARAMETRIZEDLINE_H
|
@@ -0,0 +1,776 @@
|
|
1
|
+
// This file is part of Eigen, a lightweight C++ template library
|
2
|
+
// for linear algebra.
|
3
|
+
//
|
4
|
+
// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
|
5
|
+
// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
|
6
|
+
//
|
7
|
+
// This Source Code Form is subject to the terms of the Mozilla
|
8
|
+
// Public License v. 2.0. If a copy of the MPL was not distributed
|
9
|
+
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
10
|
+
|
11
|
+
#ifndef EIGEN_QUATERNION_H
|
12
|
+
#define EIGEN_QUATERNION_H
|
13
|
+
namespace Eigen {
|
14
|
+
|
15
|
+
|
16
|
+
/***************************************************************************
|
17
|
+
* Definition of QuaternionBase<Derived>
|
18
|
+
* The implementation is at the end of the file
|
19
|
+
***************************************************************************/
|
20
|
+
|
21
|
+
namespace internal {
|
22
|
+
template<typename Other,
|
23
|
+
int OtherRows=Other::RowsAtCompileTime,
|
24
|
+
int OtherCols=Other::ColsAtCompileTime>
|
25
|
+
struct quaternionbase_assign_impl;
|
26
|
+
}
|
27
|
+
|
28
|
+
/** \geometry_module \ingroup Geometry_Module
|
29
|
+
* \class QuaternionBase
|
30
|
+
* \brief Base class for quaternion expressions
|
31
|
+
* \tparam Derived derived type (CRTP)
|
32
|
+
* \sa class Quaternion
|
33
|
+
*/
|
34
|
+
template<class Derived>
|
35
|
+
class QuaternionBase : public RotationBase<Derived, 3>
|
36
|
+
{
|
37
|
+
typedef RotationBase<Derived, 3> Base;
|
38
|
+
public:
|
39
|
+
using Base::operator*;
|
40
|
+
using Base::derived;
|
41
|
+
|
42
|
+
typedef typename internal::traits<Derived>::Scalar Scalar;
|
43
|
+
typedef typename NumTraits<Scalar>::Real RealScalar;
|
44
|
+
typedef typename internal::traits<Derived>::Coefficients Coefficients;
|
45
|
+
enum {
|
46
|
+
Flags = Eigen::internal::traits<Derived>::Flags
|
47
|
+
};
|
48
|
+
|
49
|
+
// typedef typename Matrix<Scalar,4,1> Coefficients;
|
50
|
+
/** the type of a 3D vector */
|
51
|
+
typedef Matrix<Scalar,3,1> Vector3;
|
52
|
+
/** the equivalent rotation matrix type */
|
53
|
+
typedef Matrix<Scalar,3,3> Matrix3;
|
54
|
+
/** the equivalent angle-axis type */
|
55
|
+
typedef AngleAxis<Scalar> AngleAxisType;
|
56
|
+
|
57
|
+
|
58
|
+
|
59
|
+
/** \returns the \c x coefficient */
|
60
|
+
inline Scalar x() const { return this->derived().coeffs().coeff(0); }
|
61
|
+
/** \returns the \c y coefficient */
|
62
|
+
inline Scalar y() const { return this->derived().coeffs().coeff(1); }
|
63
|
+
/** \returns the \c z coefficient */
|
64
|
+
inline Scalar z() const { return this->derived().coeffs().coeff(2); }
|
65
|
+
/** \returns the \c w coefficient */
|
66
|
+
inline Scalar w() const { return this->derived().coeffs().coeff(3); }
|
67
|
+
|
68
|
+
/** \returns a reference to the \c x coefficient */
|
69
|
+
inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
|
70
|
+
/** \returns a reference to the \c y coefficient */
|
71
|
+
inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
|
72
|
+
/** \returns a reference to the \c z coefficient */
|
73
|
+
inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
|
74
|
+
/** \returns a reference to the \c w coefficient */
|
75
|
+
inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
|
76
|
+
|
77
|
+
/** \returns a read-only vector expression of the imaginary part (x,y,z) */
|
78
|
+
inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
|
79
|
+
|
80
|
+
/** \returns a vector expression of the imaginary part (x,y,z) */
|
81
|
+
inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
|
82
|
+
|
83
|
+
/** \returns a read-only vector expression of the coefficients (x,y,z,w) */
|
84
|
+
inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
|
85
|
+
|
86
|
+
/** \returns a vector expression of the coefficients (x,y,z,w) */
|
87
|
+
inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
|
88
|
+
|
89
|
+
EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
|
90
|
+
template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
|
91
|
+
|
92
|
+
// disabled this copy operator as it is giving very strange compilation errors when compiling
|
93
|
+
// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
|
94
|
+
// useful; however notice that we already have the templated operator= above and e.g. in MatrixBase
|
95
|
+
// we didn't have to add, in addition to templated operator=, such a non-templated copy operator.
|
96
|
+
// Derived& operator=(const QuaternionBase& other)
|
97
|
+
// { return operator=<Derived>(other); }
|
98
|
+
|
99
|
+
Derived& operator=(const AngleAxisType& aa);
|
100
|
+
template<class OtherDerived> Derived& operator=(const MatrixBase<OtherDerived>& m);
|
101
|
+
|
102
|
+
/** \returns a quaternion representing an identity rotation
|
103
|
+
* \sa MatrixBase::Identity()
|
104
|
+
*/
|
105
|
+
static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
|
106
|
+
|
107
|
+
/** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
|
108
|
+
*/
|
109
|
+
inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
|
110
|
+
|
111
|
+
/** \returns the squared norm of the quaternion's coefficients
|
112
|
+
* \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
|
113
|
+
*/
|
114
|
+
inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
|
115
|
+
|
116
|
+
/** \returns the norm of the quaternion's coefficients
|
117
|
+
* \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
|
118
|
+
*/
|
119
|
+
inline Scalar norm() const { return coeffs().norm(); }
|
120
|
+
|
121
|
+
/** Normalizes the quaternion \c *this
|
122
|
+
* \sa normalized(), MatrixBase::normalize() */
|
123
|
+
inline void normalize() { coeffs().normalize(); }
|
124
|
+
/** \returns a normalized copy of \c *this
|
125
|
+
* \sa normalize(), MatrixBase::normalized() */
|
126
|
+
inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
|
127
|
+
|
128
|
+
/** \returns the dot product of \c *this and \a other
|
129
|
+
* Geometrically speaking, the dot product of two unit quaternions
|
130
|
+
* corresponds to the cosine of half the angle between the two rotations.
|
131
|
+
* \sa angularDistance()
|
132
|
+
*/
|
133
|
+
template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
|
134
|
+
|
135
|
+
template<class OtherDerived> Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
|
136
|
+
|
137
|
+
/** \returns an equivalent 3x3 rotation matrix */
|
138
|
+
Matrix3 toRotationMatrix() const;
|
139
|
+
|
140
|
+
/** \returns the quaternion which transform \a a into \a b through a rotation */
|
141
|
+
template<typename Derived1, typename Derived2>
|
142
|
+
Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
|
143
|
+
|
144
|
+
template<class OtherDerived> EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
|
145
|
+
template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
|
146
|
+
|
147
|
+
/** \returns the quaternion describing the inverse rotation */
|
148
|
+
Quaternion<Scalar> inverse() const;
|
149
|
+
|
150
|
+
/** \returns the conjugated quaternion */
|
151
|
+
Quaternion<Scalar> conjugate() const;
|
152
|
+
|
153
|
+
template<class OtherDerived> Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
|
154
|
+
|
155
|
+
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
|
156
|
+
* determined by \a prec.
|
157
|
+
*
|
158
|
+
* \sa MatrixBase::isApprox() */
|
159
|
+
template<class OtherDerived>
|
160
|
+
bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
|
161
|
+
{ return coeffs().isApprox(other.coeffs(), prec); }
|
162
|
+
|
163
|
+
/** return the result vector of \a v through the rotation*/
|
164
|
+
EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
|
165
|
+
|
166
|
+
/** \returns \c *this with scalar type casted to \a NewScalarType
|
167
|
+
*
|
168
|
+
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
169
|
+
* then this function smartly returns a const reference to \c *this.
|
170
|
+
*/
|
171
|
+
template<typename NewScalarType>
|
172
|
+
inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
|
173
|
+
{
|
174
|
+
return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived());
|
175
|
+
}
|
176
|
+
|
177
|
+
#ifdef EIGEN_QUATERNIONBASE_PLUGIN
|
178
|
+
# include EIGEN_QUATERNIONBASE_PLUGIN
|
179
|
+
#endif
|
180
|
+
};
|
181
|
+
|
182
|
+
/***************************************************************************
|
183
|
+
* Definition/implementation of Quaternion<Scalar>
|
184
|
+
***************************************************************************/
|
185
|
+
|
186
|
+
/** \geometry_module \ingroup Geometry_Module
|
187
|
+
*
|
188
|
+
* \class Quaternion
|
189
|
+
*
|
190
|
+
* \brief The quaternion class used to represent 3D orientations and rotations
|
191
|
+
*
|
192
|
+
* \tparam _Scalar the scalar type, i.e., the type of the coefficients
|
193
|
+
* \tparam _Options controls the memory alignment of the coefficients. Can be \# AutoAlign or \# DontAlign. Default is AutoAlign.
|
194
|
+
*
|
195
|
+
* This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
|
196
|
+
* orientations and rotations of objects in three dimensions. Compared to other representations
|
197
|
+
* like Euler angles or 3x3 matrices, quaternions offer the following advantages:
|
198
|
+
* \li \b compact storage (4 scalars)
|
199
|
+
* \li \b efficient to compose (28 flops),
|
200
|
+
* \li \b stable spherical interpolation
|
201
|
+
*
|
202
|
+
* The following two typedefs are provided for convenience:
|
203
|
+
* \li \c Quaternionf for \c float
|
204
|
+
* \li \c Quaterniond for \c double
|
205
|
+
*
|
206
|
+
* \warning Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.
|
207
|
+
*
|
208
|
+
* \sa class AngleAxis, class Transform
|
209
|
+
*/
|
210
|
+
|
211
|
+
namespace internal {
|
212
|
+
template<typename _Scalar,int _Options>
|
213
|
+
struct traits<Quaternion<_Scalar,_Options> >
|
214
|
+
{
|
215
|
+
typedef Quaternion<_Scalar,_Options> PlainObject;
|
216
|
+
typedef _Scalar Scalar;
|
217
|
+
typedef Matrix<_Scalar,4,1,_Options> Coefficients;
|
218
|
+
enum{
|
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|
+
IsAligned = internal::traits<Coefficients>::Flags & AlignedBit,
|
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|
+
Flags = IsAligned ? (AlignedBit | LvalueBit) : LvalueBit
|
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|
+
};
|
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|
+
};
|
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|
+
}
|
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|
+
|
225
|
+
template<typename _Scalar, int _Options>
|
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|
+
class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
|
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|
+
{
|
228
|
+
typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
|
229
|
+
enum { IsAligned = internal::traits<Quaternion>::IsAligned };
|
230
|
+
|
231
|
+
public:
|
232
|
+
typedef _Scalar Scalar;
|
233
|
+
|
234
|
+
EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion)
|
235
|
+
using Base::operator*=;
|
236
|
+
|
237
|
+
typedef typename internal::traits<Quaternion>::Coefficients Coefficients;
|
238
|
+
typedef typename Base::AngleAxisType AngleAxisType;
|
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|
+
|
240
|
+
/** Default constructor leaving the quaternion uninitialized. */
|
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|
+
inline Quaternion() {}
|
242
|
+
|
243
|
+
/** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
|
244
|
+
* its four coefficients \a w, \a x, \a y and \a z.
|
245
|
+
*
|
246
|
+
* \warning Note the order of the arguments: the real \a w coefficient first,
|
247
|
+
* while internally the coefficients are stored in the following order:
|
248
|
+
* [\c x, \c y, \c z, \c w]
|
249
|
+
*/
|
250
|
+
inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
|
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|
+
|
252
|
+
/** Constructs and initialize a quaternion from the array data */
|
253
|
+
inline Quaternion(const Scalar* data) : m_coeffs(data) {}
|
254
|
+
|
255
|
+
/** Copy constructor */
|
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|
+
template<class Derived> EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
|
257
|
+
|
258
|
+
/** Constructs and initializes a quaternion from the angle-axis \a aa */
|
259
|
+
explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
|
260
|
+
|
261
|
+
/** Constructs and initializes a quaternion from either:
|
262
|
+
* - a rotation matrix expression,
|
263
|
+
* - a 4D vector expression representing quaternion coefficients.
|
264
|
+
*/
|
265
|
+
template<typename Derived>
|
266
|
+
explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
|
267
|
+
|
268
|
+
/** Explicit copy constructor with scalar conversion */
|
269
|
+
template<typename OtherScalar, int OtherOptions>
|
270
|
+
explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
|
271
|
+
{ m_coeffs = other.coeffs().template cast<Scalar>(); }
|
272
|
+
|
273
|
+
template<typename Derived1, typename Derived2>
|
274
|
+
static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
|
275
|
+
|
276
|
+
inline Coefficients& coeffs() { return m_coeffs;}
|
277
|
+
inline const Coefficients& coeffs() const { return m_coeffs;}
|
278
|
+
|
279
|
+
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(IsAligned)
|
280
|
+
|
281
|
+
protected:
|
282
|
+
Coefficients m_coeffs;
|
283
|
+
|
284
|
+
#ifndef EIGEN_PARSED_BY_DOXYGEN
|
285
|
+
static EIGEN_STRONG_INLINE void _check_template_params()
|
286
|
+
{
|
287
|
+
EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options,
|
288
|
+
INVALID_MATRIX_TEMPLATE_PARAMETERS)
|
289
|
+
}
|
290
|
+
#endif
|
291
|
+
};
|
292
|
+
|
293
|
+
/** \ingroup Geometry_Module
|
294
|
+
* single precision quaternion type */
|
295
|
+
typedef Quaternion<float> Quaternionf;
|
296
|
+
/** \ingroup Geometry_Module
|
297
|
+
* double precision quaternion type */
|
298
|
+
typedef Quaternion<double> Quaterniond;
|
299
|
+
|
300
|
+
/***************************************************************************
|
301
|
+
* Specialization of Map<Quaternion<Scalar>>
|
302
|
+
***************************************************************************/
|
303
|
+
|
304
|
+
namespace internal {
|
305
|
+
template<typename _Scalar, int _Options>
|
306
|
+
struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
|
307
|
+
{
|
308
|
+
typedef Map<Matrix<_Scalar,4,1>, _Options> Coefficients;
|
309
|
+
};
|
310
|
+
}
|
311
|
+
|
312
|
+
namespace internal {
|
313
|
+
template<typename _Scalar, int _Options>
|
314
|
+
struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
|
315
|
+
{
|
316
|
+
typedef Map<const Matrix<_Scalar,4,1>, _Options> Coefficients;
|
317
|
+
typedef traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > TraitsBase;
|
318
|
+
enum {
|
319
|
+
Flags = TraitsBase::Flags & ~LvalueBit
|
320
|
+
};
|
321
|
+
};
|
322
|
+
}
|
323
|
+
|
324
|
+
/** \ingroup Geometry_Module
|
325
|
+
* \brief Quaternion expression mapping a constant memory buffer
|
326
|
+
*
|
327
|
+
* \tparam _Scalar the type of the Quaternion coefficients
|
328
|
+
* \tparam _Options see class Map
|
329
|
+
*
|
330
|
+
* This is a specialization of class Map for Quaternion. This class allows to view
|
331
|
+
* a 4 scalar memory buffer as an Eigen's Quaternion object.
|
332
|
+
*
|
333
|
+
* \sa class Map, class Quaternion, class QuaternionBase
|
334
|
+
*/
|
335
|
+
template<typename _Scalar, int _Options>
|
336
|
+
class Map<const Quaternion<_Scalar>, _Options >
|
337
|
+
: public QuaternionBase<Map<const Quaternion<_Scalar>, _Options> >
|
338
|
+
{
|
339
|
+
typedef QuaternionBase<Map<const Quaternion<_Scalar>, _Options> > Base;
|
340
|
+
|
341
|
+
public:
|
342
|
+
typedef _Scalar Scalar;
|
343
|
+
typedef typename internal::traits<Map>::Coefficients Coefficients;
|
344
|
+
EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
|
345
|
+
using Base::operator*=;
|
346
|
+
|
347
|
+
/** Constructs a Mapped Quaternion object from the pointer \a coeffs
|
348
|
+
*
|
349
|
+
* The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
|
350
|
+
* \code *coeffs == {x, y, z, w} \endcode
|
351
|
+
*
|
352
|
+
* If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
|
353
|
+
EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
|
354
|
+
|
355
|
+
inline const Coefficients& coeffs() const { return m_coeffs;}
|
356
|
+
|
357
|
+
protected:
|
358
|
+
const Coefficients m_coeffs;
|
359
|
+
};
|
360
|
+
|
361
|
+
/** \ingroup Geometry_Module
|
362
|
+
* \brief Expression of a quaternion from a memory buffer
|
363
|
+
*
|
364
|
+
* \tparam _Scalar the type of the Quaternion coefficients
|
365
|
+
* \tparam _Options see class Map
|
366
|
+
*
|
367
|
+
* This is a specialization of class Map for Quaternion. This class allows to view
|
368
|
+
* a 4 scalar memory buffer as an Eigen's Quaternion object.
|
369
|
+
*
|
370
|
+
* \sa class Map, class Quaternion, class QuaternionBase
|
371
|
+
*/
|
372
|
+
template<typename _Scalar, int _Options>
|
373
|
+
class Map<Quaternion<_Scalar>, _Options >
|
374
|
+
: public QuaternionBase<Map<Quaternion<_Scalar>, _Options> >
|
375
|
+
{
|
376
|
+
typedef QuaternionBase<Map<Quaternion<_Scalar>, _Options> > Base;
|
377
|
+
|
378
|
+
public:
|
379
|
+
typedef _Scalar Scalar;
|
380
|
+
typedef typename internal::traits<Map>::Coefficients Coefficients;
|
381
|
+
EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
|
382
|
+
using Base::operator*=;
|
383
|
+
|
384
|
+
/** Constructs a Mapped Quaternion object from the pointer \a coeffs
|
385
|
+
*
|
386
|
+
* The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
|
387
|
+
* \code *coeffs == {x, y, z, w} \endcode
|
388
|
+
*
|
389
|
+
* If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
|
390
|
+
EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
|
391
|
+
|
392
|
+
inline Coefficients& coeffs() { return m_coeffs; }
|
393
|
+
inline const Coefficients& coeffs() const { return m_coeffs; }
|
394
|
+
|
395
|
+
protected:
|
396
|
+
Coefficients m_coeffs;
|
397
|
+
};
|
398
|
+
|
399
|
+
/** \ingroup Geometry_Module
|
400
|
+
* Map an unaligned array of single precision scalars as a quaternion */
|
401
|
+
typedef Map<Quaternion<float>, 0> QuaternionMapf;
|
402
|
+
/** \ingroup Geometry_Module
|
403
|
+
* Map an unaligned array of double precision scalars as a quaternion */
|
404
|
+
typedef Map<Quaternion<double>, 0> QuaternionMapd;
|
405
|
+
/** \ingroup Geometry_Module
|
406
|
+
* Map a 16-byte aligned array of single precision scalars as a quaternion */
|
407
|
+
typedef Map<Quaternion<float>, Aligned> QuaternionMapAlignedf;
|
408
|
+
/** \ingroup Geometry_Module
|
409
|
+
* Map a 16-byte aligned array of double precision scalars as a quaternion */
|
410
|
+
typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
|
411
|
+
|
412
|
+
/***************************************************************************
|
413
|
+
* Implementation of QuaternionBase methods
|
414
|
+
***************************************************************************/
|
415
|
+
|
416
|
+
// Generic Quaternion * Quaternion product
|
417
|
+
// This product can be specialized for a given architecture via the Arch template argument.
|
418
|
+
namespace internal {
|
419
|
+
template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
|
420
|
+
{
|
421
|
+
static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
|
422
|
+
return Quaternion<Scalar>
|
423
|
+
(
|
424
|
+
a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
|
425
|
+
a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
|
426
|
+
a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
|
427
|
+
a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
|
428
|
+
);
|
429
|
+
}
|
430
|
+
};
|
431
|
+
}
|
432
|
+
|
433
|
+
/** \returns the concatenation of two rotations as a quaternion-quaternion product */
|
434
|
+
template <class Derived>
|
435
|
+
template <class OtherDerived>
|
436
|
+
EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
|
437
|
+
QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
|
438
|
+
{
|
439
|
+
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
|
440
|
+
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
|
441
|
+
return internal::quat_product<Architecture::Target, Derived, OtherDerived,
|
442
|
+
typename internal::traits<Derived>::Scalar,
|
443
|
+
internal::traits<Derived>::IsAligned && internal::traits<OtherDerived>::IsAligned>::run(*this, other);
|
444
|
+
}
|
445
|
+
|
446
|
+
/** \sa operator*(Quaternion) */
|
447
|
+
template <class Derived>
|
448
|
+
template <class OtherDerived>
|
449
|
+
EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
|
450
|
+
{
|
451
|
+
derived() = derived() * other.derived();
|
452
|
+
return derived();
|
453
|
+
}
|
454
|
+
|
455
|
+
/** Rotation of a vector by a quaternion.
|
456
|
+
* \remarks If the quaternion is used to rotate several points (>1)
|
457
|
+
* then it is much more efficient to first convert it to a 3x3 Matrix.
|
458
|
+
* Comparison of the operation cost for n transformations:
|
459
|
+
* - Quaternion2: 30n
|
460
|
+
* - Via a Matrix3: 24 + 15n
|
461
|
+
*/
|
462
|
+
template <class Derived>
|
463
|
+
EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
|
464
|
+
QuaternionBase<Derived>::_transformVector(const Vector3& v) const
|
465
|
+
{
|
466
|
+
// Note that this algorithm comes from the optimization by hand
|
467
|
+
// of the conversion to a Matrix followed by a Matrix/Vector product.
|
468
|
+
// It appears to be much faster than the common algorithm found
|
469
|
+
// in the literature (30 versus 39 flops). It also requires two
|
470
|
+
// Vector3 as temporaries.
|
471
|
+
Vector3 uv = this->vec().cross(v);
|
472
|
+
uv += uv;
|
473
|
+
return v + this->w() * uv + this->vec().cross(uv);
|
474
|
+
}
|
475
|
+
|
476
|
+
template<class Derived>
|
477
|
+
EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
|
478
|
+
{
|
479
|
+
coeffs() = other.coeffs();
|
480
|
+
return derived();
|
481
|
+
}
|
482
|
+
|
483
|
+
template<class Derived>
|
484
|
+
template<class OtherDerived>
|
485
|
+
EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
|
486
|
+
{
|
487
|
+
coeffs() = other.coeffs();
|
488
|
+
return derived();
|
489
|
+
}
|
490
|
+
|
491
|
+
/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
|
492
|
+
*/
|
493
|
+
template<class Derived>
|
494
|
+
EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
|
495
|
+
{
|
496
|
+
using std::cos;
|
497
|
+
using std::sin;
|
498
|
+
Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
|
499
|
+
this->w() = cos(ha);
|
500
|
+
this->vec() = sin(ha) * aa.axis();
|
501
|
+
return derived();
|
502
|
+
}
|
503
|
+
|
504
|
+
/** Set \c *this from the expression \a xpr:
|
505
|
+
* - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
|
506
|
+
* - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
|
507
|
+
* and \a xpr is converted to a quaternion
|
508
|
+
*/
|
509
|
+
|
510
|
+
template<class Derived>
|
511
|
+
template<class MatrixDerived>
|
512
|
+
inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
|
513
|
+
{
|
514
|
+
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
|
515
|
+
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
|
516
|
+
internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
|
517
|
+
return derived();
|
518
|
+
}
|
519
|
+
|
520
|
+
/** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
|
521
|
+
* be normalized, otherwise the result is undefined.
|
522
|
+
*/
|
523
|
+
template<class Derived>
|
524
|
+
inline typename QuaternionBase<Derived>::Matrix3
|
525
|
+
QuaternionBase<Derived>::toRotationMatrix(void) const
|
526
|
+
{
|
527
|
+
// NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
|
528
|
+
// if not inlined then the cost of the return by value is huge ~ +35%,
|
529
|
+
// however, not inlining this function is an order of magnitude slower, so
|
530
|
+
// it has to be inlined, and so the return by value is not an issue
|
531
|
+
Matrix3 res;
|
532
|
+
|
533
|
+
const Scalar tx = Scalar(2)*this->x();
|
534
|
+
const Scalar ty = Scalar(2)*this->y();
|
535
|
+
const Scalar tz = Scalar(2)*this->z();
|
536
|
+
const Scalar twx = tx*this->w();
|
537
|
+
const Scalar twy = ty*this->w();
|
538
|
+
const Scalar twz = tz*this->w();
|
539
|
+
const Scalar txx = tx*this->x();
|
540
|
+
const Scalar txy = ty*this->x();
|
541
|
+
const Scalar txz = tz*this->x();
|
542
|
+
const Scalar tyy = ty*this->y();
|
543
|
+
const Scalar tyz = tz*this->y();
|
544
|
+
const Scalar tzz = tz*this->z();
|
545
|
+
|
546
|
+
res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
|
547
|
+
res.coeffRef(0,1) = txy-twz;
|
548
|
+
res.coeffRef(0,2) = txz+twy;
|
549
|
+
res.coeffRef(1,0) = txy+twz;
|
550
|
+
res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
|
551
|
+
res.coeffRef(1,2) = tyz-twx;
|
552
|
+
res.coeffRef(2,0) = txz-twy;
|
553
|
+
res.coeffRef(2,1) = tyz+twx;
|
554
|
+
res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
|
555
|
+
|
556
|
+
return res;
|
557
|
+
}
|
558
|
+
|
559
|
+
/** Sets \c *this to be a quaternion representing a rotation between
|
560
|
+
* the two arbitrary vectors \a a and \a b. In other words, the built
|
561
|
+
* rotation represent a rotation sending the line of direction \a a
|
562
|
+
* to the line of direction \a b, both lines passing through the origin.
|
563
|
+
*
|
564
|
+
* \returns a reference to \c *this.
|
565
|
+
*
|
566
|
+
* Note that the two input vectors do \b not have to be normalized, and
|
567
|
+
* do not need to have the same norm.
|
568
|
+
*/
|
569
|
+
template<class Derived>
|
570
|
+
template<typename Derived1, typename Derived2>
|
571
|
+
inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
|
572
|
+
{
|
573
|
+
using std::max;
|
574
|
+
using std::sqrt;
|
575
|
+
Vector3 v0 = a.normalized();
|
576
|
+
Vector3 v1 = b.normalized();
|
577
|
+
Scalar c = v1.dot(v0);
|
578
|
+
|
579
|
+
// if dot == -1, vectors are nearly opposites
|
580
|
+
// => accurately compute the rotation axis by computing the
|
581
|
+
// intersection of the two planes. This is done by solving:
|
582
|
+
// x^T v0 = 0
|
583
|
+
// x^T v1 = 0
|
584
|
+
// under the constraint:
|
585
|
+
// ||x|| = 1
|
586
|
+
// which yields a singular value problem
|
587
|
+
if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
|
588
|
+
{
|
589
|
+
c = (max)(c,Scalar(-1));
|
590
|
+
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
|
591
|
+
JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
|
592
|
+
Vector3 axis = svd.matrixV().col(2);
|
593
|
+
|
594
|
+
Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
|
595
|
+
this->w() = sqrt(w2);
|
596
|
+
this->vec() = axis * sqrt(Scalar(1) - w2);
|
597
|
+
return derived();
|
598
|
+
}
|
599
|
+
Vector3 axis = v0.cross(v1);
|
600
|
+
Scalar s = sqrt((Scalar(1)+c)*Scalar(2));
|
601
|
+
Scalar invs = Scalar(1)/s;
|
602
|
+
this->vec() = axis * invs;
|
603
|
+
this->w() = s * Scalar(0.5);
|
604
|
+
|
605
|
+
return derived();
|
606
|
+
}
|
607
|
+
|
608
|
+
|
609
|
+
/** Returns a quaternion representing a rotation between
|
610
|
+
* the two arbitrary vectors \a a and \a b. In other words, the built
|
611
|
+
* rotation represent a rotation sending the line of direction \a a
|
612
|
+
* to the line of direction \a b, both lines passing through the origin.
|
613
|
+
*
|
614
|
+
* \returns resulting quaternion
|
615
|
+
*
|
616
|
+
* Note that the two input vectors do \b not have to be normalized, and
|
617
|
+
* do not need to have the same norm.
|
618
|
+
*/
|
619
|
+
template<typename Scalar, int Options>
|
620
|
+
template<typename Derived1, typename Derived2>
|
621
|
+
Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
|
622
|
+
{
|
623
|
+
Quaternion quat;
|
624
|
+
quat.setFromTwoVectors(a, b);
|
625
|
+
return quat;
|
626
|
+
}
|
627
|
+
|
628
|
+
|
629
|
+
/** \returns the multiplicative inverse of \c *this
|
630
|
+
* Note that in most cases, i.e., if you simply want the opposite rotation,
|
631
|
+
* and/or the quaternion is normalized, then it is enough to use the conjugate.
|
632
|
+
*
|
633
|
+
* \sa QuaternionBase::conjugate()
|
634
|
+
*/
|
635
|
+
template <class Derived>
|
636
|
+
inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
|
637
|
+
{
|
638
|
+
// FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite() ??
|
639
|
+
Scalar n2 = this->squaredNorm();
|
640
|
+
if (n2 > Scalar(0))
|
641
|
+
return Quaternion<Scalar>(conjugate().coeffs() / n2);
|
642
|
+
else
|
643
|
+
{
|
644
|
+
// return an invalid result to flag the error
|
645
|
+
return Quaternion<Scalar>(Coefficients::Zero());
|
646
|
+
}
|
647
|
+
}
|
648
|
+
|
649
|
+
/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
|
650
|
+
* if the quaternion is normalized.
|
651
|
+
* The conjugate of a quaternion represents the opposite rotation.
|
652
|
+
*
|
653
|
+
* \sa Quaternion2::inverse()
|
654
|
+
*/
|
655
|
+
template <class Derived>
|
656
|
+
inline Quaternion<typename internal::traits<Derived>::Scalar>
|
657
|
+
QuaternionBase<Derived>::conjugate() const
|
658
|
+
{
|
659
|
+
return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z());
|
660
|
+
}
|
661
|
+
|
662
|
+
/** \returns the angle (in radian) between two rotations
|
663
|
+
* \sa dot()
|
664
|
+
*/
|
665
|
+
template <class Derived>
|
666
|
+
template <class OtherDerived>
|
667
|
+
inline typename internal::traits<Derived>::Scalar
|
668
|
+
QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
|
669
|
+
{
|
670
|
+
using std::atan2;
|
671
|
+
using std::abs;
|
672
|
+
Quaternion<Scalar> d = (*this) * other.conjugate();
|
673
|
+
return Scalar(2) * atan2( d.vec().norm(), abs(d.w()) );
|
674
|
+
}
|
675
|
+
|
676
|
+
|
677
|
+
|
678
|
+
/** \returns the spherical linear interpolation between the two quaternions
|
679
|
+
* \c *this and \a other at the parameter \a t in [0;1].
|
680
|
+
*
|
681
|
+
* This represents an interpolation for a constant motion between \c *this and \a other,
|
682
|
+
* see also http://en.wikipedia.org/wiki/Slerp.
|
683
|
+
*/
|
684
|
+
template <class Derived>
|
685
|
+
template <class OtherDerived>
|
686
|
+
Quaternion<typename internal::traits<Derived>::Scalar>
|
687
|
+
QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const
|
688
|
+
{
|
689
|
+
using std::acos;
|
690
|
+
using std::sin;
|
691
|
+
using std::abs;
|
692
|
+
static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
|
693
|
+
Scalar d = this->dot(other);
|
694
|
+
Scalar absD = abs(d);
|
695
|
+
|
696
|
+
Scalar scale0;
|
697
|
+
Scalar scale1;
|
698
|
+
|
699
|
+
if(absD>=one)
|
700
|
+
{
|
701
|
+
scale0 = Scalar(1) - t;
|
702
|
+
scale1 = t;
|
703
|
+
}
|
704
|
+
else
|
705
|
+
{
|
706
|
+
// theta is the angle between the 2 quaternions
|
707
|
+
Scalar theta = acos(absD);
|
708
|
+
Scalar sinTheta = sin(theta);
|
709
|
+
|
710
|
+
scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta;
|
711
|
+
scale1 = sin( ( t * theta) ) / sinTheta;
|
712
|
+
}
|
713
|
+
if(d<Scalar(0)) scale1 = -scale1;
|
714
|
+
|
715
|
+
return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
|
716
|
+
}
|
717
|
+
|
718
|
+
namespace internal {
|
719
|
+
|
720
|
+
// set from a rotation matrix
|
721
|
+
template<typename Other>
|
722
|
+
struct quaternionbase_assign_impl<Other,3,3>
|
723
|
+
{
|
724
|
+
typedef typename Other::Scalar Scalar;
|
725
|
+
typedef DenseIndex Index;
|
726
|
+
template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& mat)
|
727
|
+
{
|
728
|
+
using std::sqrt;
|
729
|
+
// This algorithm comes from "Quaternion Calculus and Fast Animation",
|
730
|
+
// Ken Shoemake, 1987 SIGGRAPH course notes
|
731
|
+
Scalar t = mat.trace();
|
732
|
+
if (t > Scalar(0))
|
733
|
+
{
|
734
|
+
t = sqrt(t + Scalar(1.0));
|
735
|
+
q.w() = Scalar(0.5)*t;
|
736
|
+
t = Scalar(0.5)/t;
|
737
|
+
q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
|
738
|
+
q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
|
739
|
+
q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
|
740
|
+
}
|
741
|
+
else
|
742
|
+
{
|
743
|
+
DenseIndex i = 0;
|
744
|
+
if (mat.coeff(1,1) > mat.coeff(0,0))
|
745
|
+
i = 1;
|
746
|
+
if (mat.coeff(2,2) > mat.coeff(i,i))
|
747
|
+
i = 2;
|
748
|
+
DenseIndex j = (i+1)%3;
|
749
|
+
DenseIndex k = (j+1)%3;
|
750
|
+
|
751
|
+
t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
|
752
|
+
q.coeffs().coeffRef(i) = Scalar(0.5) * t;
|
753
|
+
t = Scalar(0.5)/t;
|
754
|
+
q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
|
755
|
+
q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
|
756
|
+
q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
|
757
|
+
}
|
758
|
+
}
|
759
|
+
};
|
760
|
+
|
761
|
+
// set from a vector of coefficients assumed to be a quaternion
|
762
|
+
template<typename Other>
|
763
|
+
struct quaternionbase_assign_impl<Other,4,1>
|
764
|
+
{
|
765
|
+
typedef typename Other::Scalar Scalar;
|
766
|
+
template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& vec)
|
767
|
+
{
|
768
|
+
q.coeffs() = vec;
|
769
|
+
}
|
770
|
+
};
|
771
|
+
|
772
|
+
} // end namespace internal
|
773
|
+
|
774
|
+
} // end namespace Eigen
|
775
|
+
|
776
|
+
#endif // EIGEN_QUATERNION_H
|