umappp 0.1.2
Sign up to get free protection for your applications and to get access to all the features.
- checksums.yaml +7 -0
- data/LICENSE.txt +25 -0
- data/README.md +110 -0
- data/ext/umappp/extconf.rb +25 -0
- data/ext/umappp/numo.hpp +867 -0
- data/ext/umappp/umappp.cpp +225 -0
- data/lib/umappp/version.rb +5 -0
- data/lib/umappp.rb +41 -0
- data/vendor/Eigen/Cholesky +45 -0
- data/vendor/Eigen/CholmodSupport +48 -0
- data/vendor/Eigen/Core +384 -0
- data/vendor/Eigen/Dense +7 -0
- data/vendor/Eigen/Eigen +2 -0
- data/vendor/Eigen/Eigenvalues +60 -0
- data/vendor/Eigen/Geometry +59 -0
- data/vendor/Eigen/Householder +29 -0
- data/vendor/Eigen/IterativeLinearSolvers +48 -0
- data/vendor/Eigen/Jacobi +32 -0
- data/vendor/Eigen/KLUSupport +41 -0
- data/vendor/Eigen/LU +47 -0
- data/vendor/Eigen/MetisSupport +35 -0
- data/vendor/Eigen/OrderingMethods +70 -0
- data/vendor/Eigen/PaStiXSupport +49 -0
- data/vendor/Eigen/PardisoSupport +35 -0
- data/vendor/Eigen/QR +50 -0
- data/vendor/Eigen/QtAlignedMalloc +39 -0
- data/vendor/Eigen/SPQRSupport +34 -0
- data/vendor/Eigen/SVD +50 -0
- data/vendor/Eigen/Sparse +34 -0
- data/vendor/Eigen/SparseCholesky +37 -0
- data/vendor/Eigen/SparseCore +69 -0
- data/vendor/Eigen/SparseLU +50 -0
- data/vendor/Eigen/SparseQR +36 -0
- data/vendor/Eigen/StdDeque +27 -0
- data/vendor/Eigen/StdList +26 -0
- data/vendor/Eigen/StdVector +27 -0
- data/vendor/Eigen/SuperLUSupport +64 -0
- data/vendor/Eigen/UmfPackSupport +40 -0
- data/vendor/Eigen/src/Cholesky/LDLT.h +688 -0
- data/vendor/Eigen/src/Cholesky/LLT.h +558 -0
- data/vendor/Eigen/src/Cholesky/LLT_LAPACKE.h +99 -0
- data/vendor/Eigen/src/CholmodSupport/CholmodSupport.h +682 -0
- data/vendor/Eigen/src/Core/ArithmeticSequence.h +413 -0
- data/vendor/Eigen/src/Core/Array.h +417 -0
- data/vendor/Eigen/src/Core/ArrayBase.h +226 -0
- data/vendor/Eigen/src/Core/ArrayWrapper.h +209 -0
- data/vendor/Eigen/src/Core/Assign.h +90 -0
- data/vendor/Eigen/src/Core/AssignEvaluator.h +1010 -0
- data/vendor/Eigen/src/Core/Assign_MKL.h +178 -0
- data/vendor/Eigen/src/Core/BandMatrix.h +353 -0
- data/vendor/Eigen/src/Core/Block.h +448 -0
- data/vendor/Eigen/src/Core/BooleanRedux.h +162 -0
- data/vendor/Eigen/src/Core/CommaInitializer.h +164 -0
- data/vendor/Eigen/src/Core/ConditionEstimator.h +175 -0
- data/vendor/Eigen/src/Core/CoreEvaluators.h +1741 -0
- data/vendor/Eigen/src/Core/CoreIterators.h +132 -0
- data/vendor/Eigen/src/Core/CwiseBinaryOp.h +183 -0
- data/vendor/Eigen/src/Core/CwiseNullaryOp.h +1001 -0
- data/vendor/Eigen/src/Core/CwiseTernaryOp.h +197 -0
- data/vendor/Eigen/src/Core/CwiseUnaryOp.h +103 -0
- data/vendor/Eigen/src/Core/CwiseUnaryView.h +132 -0
- data/vendor/Eigen/src/Core/DenseBase.h +701 -0
- data/vendor/Eigen/src/Core/DenseCoeffsBase.h +685 -0
- data/vendor/Eigen/src/Core/DenseStorage.h +652 -0
- data/vendor/Eigen/src/Core/Diagonal.h +258 -0
- data/vendor/Eigen/src/Core/DiagonalMatrix.h +391 -0
- data/vendor/Eigen/src/Core/DiagonalProduct.h +28 -0
- data/vendor/Eigen/src/Core/Dot.h +318 -0
- data/vendor/Eigen/src/Core/EigenBase.h +160 -0
- data/vendor/Eigen/src/Core/ForceAlignedAccess.h +150 -0
- data/vendor/Eigen/src/Core/Fuzzy.h +155 -0
- data/vendor/Eigen/src/Core/GeneralProduct.h +465 -0
- data/vendor/Eigen/src/Core/GenericPacketMath.h +1040 -0
- data/vendor/Eigen/src/Core/GlobalFunctions.h +194 -0
- data/vendor/Eigen/src/Core/IO.h +258 -0
- data/vendor/Eigen/src/Core/IndexedView.h +237 -0
- data/vendor/Eigen/src/Core/Inverse.h +117 -0
- data/vendor/Eigen/src/Core/Map.h +171 -0
- data/vendor/Eigen/src/Core/MapBase.h +310 -0
- data/vendor/Eigen/src/Core/MathFunctions.h +2057 -0
- data/vendor/Eigen/src/Core/MathFunctionsImpl.h +200 -0
- data/vendor/Eigen/src/Core/Matrix.h +565 -0
- data/vendor/Eigen/src/Core/MatrixBase.h +547 -0
- data/vendor/Eigen/src/Core/NestByValue.h +85 -0
- data/vendor/Eigen/src/Core/NoAlias.h +109 -0
- data/vendor/Eigen/src/Core/NumTraits.h +335 -0
- data/vendor/Eigen/src/Core/PartialReduxEvaluator.h +232 -0
- data/vendor/Eigen/src/Core/PermutationMatrix.h +605 -0
- data/vendor/Eigen/src/Core/PlainObjectBase.h +1128 -0
- data/vendor/Eigen/src/Core/Product.h +191 -0
- data/vendor/Eigen/src/Core/ProductEvaluators.h +1179 -0
- data/vendor/Eigen/src/Core/Random.h +218 -0
- data/vendor/Eigen/src/Core/Redux.h +515 -0
- data/vendor/Eigen/src/Core/Ref.h +381 -0
- data/vendor/Eigen/src/Core/Replicate.h +142 -0
- data/vendor/Eigen/src/Core/Reshaped.h +454 -0
- data/vendor/Eigen/src/Core/ReturnByValue.h +119 -0
- data/vendor/Eigen/src/Core/Reverse.h +217 -0
- data/vendor/Eigen/src/Core/Select.h +164 -0
- data/vendor/Eigen/src/Core/SelfAdjointView.h +365 -0
- data/vendor/Eigen/src/Core/SelfCwiseBinaryOp.h +47 -0
- data/vendor/Eigen/src/Core/Solve.h +188 -0
- data/vendor/Eigen/src/Core/SolveTriangular.h +235 -0
- data/vendor/Eigen/src/Core/SolverBase.h +168 -0
- data/vendor/Eigen/src/Core/StableNorm.h +251 -0
- data/vendor/Eigen/src/Core/StlIterators.h +463 -0
- data/vendor/Eigen/src/Core/Stride.h +116 -0
- data/vendor/Eigen/src/Core/Swap.h +68 -0
- data/vendor/Eigen/src/Core/Transpose.h +464 -0
- data/vendor/Eigen/src/Core/Transpositions.h +386 -0
- data/vendor/Eigen/src/Core/TriangularMatrix.h +1001 -0
- data/vendor/Eigen/src/Core/VectorBlock.h +96 -0
- data/vendor/Eigen/src/Core/VectorwiseOp.h +784 -0
- data/vendor/Eigen/src/Core/Visitor.h +381 -0
- data/vendor/Eigen/src/Core/arch/AVX/Complex.h +372 -0
- data/vendor/Eigen/src/Core/arch/AVX/MathFunctions.h +228 -0
- data/vendor/Eigen/src/Core/arch/AVX/PacketMath.h +1574 -0
- data/vendor/Eigen/src/Core/arch/AVX/TypeCasting.h +115 -0
- data/vendor/Eigen/src/Core/arch/AVX512/Complex.h +422 -0
- data/vendor/Eigen/src/Core/arch/AVX512/MathFunctions.h +362 -0
- data/vendor/Eigen/src/Core/arch/AVX512/PacketMath.h +2303 -0
- data/vendor/Eigen/src/Core/arch/AVX512/TypeCasting.h +89 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/Complex.h +417 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MathFunctions.h +90 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MatrixProduct.h +2937 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MatrixProductCommon.h +221 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/MatrixProductMMA.h +629 -0
- data/vendor/Eigen/src/Core/arch/AltiVec/PacketMath.h +2711 -0
- data/vendor/Eigen/src/Core/arch/CUDA/Complex.h +258 -0
- data/vendor/Eigen/src/Core/arch/Default/BFloat16.h +700 -0
- data/vendor/Eigen/src/Core/arch/Default/ConjHelper.h +117 -0
- data/vendor/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h +1649 -0
- data/vendor/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h +110 -0
- data/vendor/Eigen/src/Core/arch/Default/Half.h +942 -0
- data/vendor/Eigen/src/Core/arch/Default/Settings.h +49 -0
- data/vendor/Eigen/src/Core/arch/Default/TypeCasting.h +120 -0
- data/vendor/Eigen/src/Core/arch/GPU/MathFunctions.h +103 -0
- data/vendor/Eigen/src/Core/arch/GPU/PacketMath.h +1685 -0
- data/vendor/Eigen/src/Core/arch/GPU/TypeCasting.h +80 -0
- data/vendor/Eigen/src/Core/arch/HIP/hcc/math_constants.h +23 -0
- data/vendor/Eigen/src/Core/arch/MSA/Complex.h +648 -0
- data/vendor/Eigen/src/Core/arch/MSA/MathFunctions.h +387 -0
- data/vendor/Eigen/src/Core/arch/MSA/PacketMath.h +1233 -0
- data/vendor/Eigen/src/Core/arch/NEON/Complex.h +584 -0
- data/vendor/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h +183 -0
- data/vendor/Eigen/src/Core/arch/NEON/MathFunctions.h +75 -0
- data/vendor/Eigen/src/Core/arch/NEON/PacketMath.h +4587 -0
- data/vendor/Eigen/src/Core/arch/NEON/TypeCasting.h +1419 -0
- data/vendor/Eigen/src/Core/arch/SSE/Complex.h +351 -0
- data/vendor/Eigen/src/Core/arch/SSE/MathFunctions.h +199 -0
- data/vendor/Eigen/src/Core/arch/SSE/PacketMath.h +1505 -0
- data/vendor/Eigen/src/Core/arch/SSE/TypeCasting.h +142 -0
- data/vendor/Eigen/src/Core/arch/SVE/MathFunctions.h +44 -0
- data/vendor/Eigen/src/Core/arch/SVE/PacketMath.h +752 -0
- data/vendor/Eigen/src/Core/arch/SVE/TypeCasting.h +49 -0
- data/vendor/Eigen/src/Core/arch/SYCL/InteropHeaders.h +232 -0
- data/vendor/Eigen/src/Core/arch/SYCL/MathFunctions.h +301 -0
- data/vendor/Eigen/src/Core/arch/SYCL/PacketMath.h +670 -0
- data/vendor/Eigen/src/Core/arch/SYCL/SyclMemoryModel.h +694 -0
- data/vendor/Eigen/src/Core/arch/SYCL/TypeCasting.h +85 -0
- data/vendor/Eigen/src/Core/arch/ZVector/Complex.h +426 -0
- data/vendor/Eigen/src/Core/arch/ZVector/MathFunctions.h +233 -0
- data/vendor/Eigen/src/Core/arch/ZVector/PacketMath.h +1060 -0
- data/vendor/Eigen/src/Core/functors/AssignmentFunctors.h +177 -0
- data/vendor/Eigen/src/Core/functors/BinaryFunctors.h +541 -0
- data/vendor/Eigen/src/Core/functors/NullaryFunctors.h +189 -0
- data/vendor/Eigen/src/Core/functors/StlFunctors.h +166 -0
- data/vendor/Eigen/src/Core/functors/TernaryFunctors.h +25 -0
- data/vendor/Eigen/src/Core/functors/UnaryFunctors.h +1131 -0
- data/vendor/Eigen/src/Core/products/GeneralBlockPanelKernel.h +2645 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrix.h +517 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h +317 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h +145 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h +124 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixVector.h +518 -0
- data/vendor/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h +136 -0
- data/vendor/Eigen/src/Core/products/Parallelizer.h +180 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixMatrix.h +544 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h +295 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixVector.h +262 -0
- data/vendor/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h +118 -0
- data/vendor/Eigen/src/Core/products/SelfadjointProduct.h +133 -0
- data/vendor/Eigen/src/Core/products/SelfadjointRank2Update.h +94 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixMatrix.h +472 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h +317 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixVector.h +350 -0
- data/vendor/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h +255 -0
- data/vendor/Eigen/src/Core/products/TriangularSolverMatrix.h +337 -0
- data/vendor/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h +167 -0
- data/vendor/Eigen/src/Core/products/TriangularSolverVector.h +148 -0
- data/vendor/Eigen/src/Core/util/BlasUtil.h +583 -0
- data/vendor/Eigen/src/Core/util/ConfigureVectorization.h +512 -0
- data/vendor/Eigen/src/Core/util/Constants.h +563 -0
- data/vendor/Eigen/src/Core/util/DisableStupidWarnings.h +106 -0
- data/vendor/Eigen/src/Core/util/ForwardDeclarations.h +322 -0
- data/vendor/Eigen/src/Core/util/IndexedViewHelper.h +186 -0
- data/vendor/Eigen/src/Core/util/IntegralConstant.h +272 -0
- data/vendor/Eigen/src/Core/util/MKL_support.h +137 -0
- data/vendor/Eigen/src/Core/util/Macros.h +1464 -0
- data/vendor/Eigen/src/Core/util/Memory.h +1163 -0
- data/vendor/Eigen/src/Core/util/Meta.h +812 -0
- data/vendor/Eigen/src/Core/util/NonMPL2.h +3 -0
- data/vendor/Eigen/src/Core/util/ReenableStupidWarnings.h +31 -0
- data/vendor/Eigen/src/Core/util/ReshapedHelper.h +51 -0
- data/vendor/Eigen/src/Core/util/StaticAssert.h +221 -0
- data/vendor/Eigen/src/Core/util/SymbolicIndex.h +293 -0
- data/vendor/Eigen/src/Core/util/XprHelper.h +856 -0
- data/vendor/Eigen/src/Eigenvalues/ComplexEigenSolver.h +346 -0
- data/vendor/Eigen/src/Eigenvalues/ComplexSchur.h +462 -0
- data/vendor/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h +91 -0
- data/vendor/Eigen/src/Eigenvalues/EigenSolver.h +622 -0
- data/vendor/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h +418 -0
- data/vendor/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h +226 -0
- data/vendor/Eigen/src/Eigenvalues/HessenbergDecomposition.h +374 -0
- data/vendor/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h +158 -0
- data/vendor/Eigen/src/Eigenvalues/RealQZ.h +657 -0
- data/vendor/Eigen/src/Eigenvalues/RealSchur.h +558 -0
- data/vendor/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h +77 -0
- data/vendor/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +904 -0
- data/vendor/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h +87 -0
- data/vendor/Eigen/src/Eigenvalues/Tridiagonalization.h +561 -0
- data/vendor/Eigen/src/Geometry/AlignedBox.h +486 -0
- data/vendor/Eigen/src/Geometry/AngleAxis.h +247 -0
- data/vendor/Eigen/src/Geometry/EulerAngles.h +114 -0
- data/vendor/Eigen/src/Geometry/Homogeneous.h +501 -0
- data/vendor/Eigen/src/Geometry/Hyperplane.h +282 -0
- data/vendor/Eigen/src/Geometry/OrthoMethods.h +235 -0
- data/vendor/Eigen/src/Geometry/ParametrizedLine.h +232 -0
- data/vendor/Eigen/src/Geometry/Quaternion.h +870 -0
- data/vendor/Eigen/src/Geometry/Rotation2D.h +199 -0
- data/vendor/Eigen/src/Geometry/RotationBase.h +206 -0
- data/vendor/Eigen/src/Geometry/Scaling.h +188 -0
- data/vendor/Eigen/src/Geometry/Transform.h +1563 -0
- data/vendor/Eigen/src/Geometry/Translation.h +202 -0
- data/vendor/Eigen/src/Geometry/Umeyama.h +166 -0
- data/vendor/Eigen/src/Geometry/arch/Geometry_SIMD.h +168 -0
- data/vendor/Eigen/src/Householder/BlockHouseholder.h +110 -0
- data/vendor/Eigen/src/Householder/Householder.h +176 -0
- data/vendor/Eigen/src/Householder/HouseholderSequence.h +545 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h +226 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h +212 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +229 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h +394 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h +453 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h +444 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h +198 -0
- data/vendor/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h +117 -0
- data/vendor/Eigen/src/Jacobi/Jacobi.h +483 -0
- data/vendor/Eigen/src/KLUSupport/KLUSupport.h +358 -0
- data/vendor/Eigen/src/LU/Determinant.h +117 -0
- data/vendor/Eigen/src/LU/FullPivLU.h +877 -0
- data/vendor/Eigen/src/LU/InverseImpl.h +432 -0
- data/vendor/Eigen/src/LU/PartialPivLU.h +624 -0
- data/vendor/Eigen/src/LU/PartialPivLU_LAPACKE.h +83 -0
- data/vendor/Eigen/src/LU/arch/InverseSize4.h +351 -0
- data/vendor/Eigen/src/MetisSupport/MetisSupport.h +137 -0
- data/vendor/Eigen/src/OrderingMethods/Amd.h +435 -0
- data/vendor/Eigen/src/OrderingMethods/Eigen_Colamd.h +1863 -0
- data/vendor/Eigen/src/OrderingMethods/Ordering.h +153 -0
- data/vendor/Eigen/src/PaStiXSupport/PaStiXSupport.h +678 -0
- data/vendor/Eigen/src/PardisoSupport/PardisoSupport.h +545 -0
- data/vendor/Eigen/src/QR/ColPivHouseholderQR.h +674 -0
- data/vendor/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h +97 -0
- data/vendor/Eigen/src/QR/CompleteOrthogonalDecomposition.h +635 -0
- data/vendor/Eigen/src/QR/FullPivHouseholderQR.h +713 -0
- data/vendor/Eigen/src/QR/HouseholderQR.h +434 -0
- data/vendor/Eigen/src/QR/HouseholderQR_LAPACKE.h +68 -0
- data/vendor/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h +335 -0
- data/vendor/Eigen/src/SVD/BDCSVD.h +1366 -0
- data/vendor/Eigen/src/SVD/JacobiSVD.h +812 -0
- data/vendor/Eigen/src/SVD/JacobiSVD_LAPACKE.h +91 -0
- data/vendor/Eigen/src/SVD/SVDBase.h +376 -0
- data/vendor/Eigen/src/SVD/UpperBidiagonalization.h +414 -0
- data/vendor/Eigen/src/SparseCholesky/SimplicialCholesky.h +697 -0
- data/vendor/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h +174 -0
- data/vendor/Eigen/src/SparseCore/AmbiVector.h +378 -0
- data/vendor/Eigen/src/SparseCore/CompressedStorage.h +274 -0
- data/vendor/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h +352 -0
- data/vendor/Eigen/src/SparseCore/MappedSparseMatrix.h +67 -0
- data/vendor/Eigen/src/SparseCore/SparseAssign.h +270 -0
- data/vendor/Eigen/src/SparseCore/SparseBlock.h +571 -0
- data/vendor/Eigen/src/SparseCore/SparseColEtree.h +206 -0
- data/vendor/Eigen/src/SparseCore/SparseCompressedBase.h +370 -0
- data/vendor/Eigen/src/SparseCore/SparseCwiseBinaryOp.h +722 -0
- data/vendor/Eigen/src/SparseCore/SparseCwiseUnaryOp.h +150 -0
- data/vendor/Eigen/src/SparseCore/SparseDenseProduct.h +342 -0
- data/vendor/Eigen/src/SparseCore/SparseDiagonalProduct.h +138 -0
- data/vendor/Eigen/src/SparseCore/SparseDot.h +98 -0
- data/vendor/Eigen/src/SparseCore/SparseFuzzy.h +29 -0
- data/vendor/Eigen/src/SparseCore/SparseMap.h +305 -0
- data/vendor/Eigen/src/SparseCore/SparseMatrix.h +1518 -0
- data/vendor/Eigen/src/SparseCore/SparseMatrixBase.h +398 -0
- data/vendor/Eigen/src/SparseCore/SparsePermutation.h +178 -0
- data/vendor/Eigen/src/SparseCore/SparseProduct.h +181 -0
- data/vendor/Eigen/src/SparseCore/SparseRedux.h +49 -0
- data/vendor/Eigen/src/SparseCore/SparseRef.h +397 -0
- data/vendor/Eigen/src/SparseCore/SparseSelfAdjointView.h +659 -0
- data/vendor/Eigen/src/SparseCore/SparseSolverBase.h +124 -0
- data/vendor/Eigen/src/SparseCore/SparseSparseProductWithPruning.h +198 -0
- data/vendor/Eigen/src/SparseCore/SparseTranspose.h +92 -0
- data/vendor/Eigen/src/SparseCore/SparseTriangularView.h +189 -0
- data/vendor/Eigen/src/SparseCore/SparseUtil.h +186 -0
- data/vendor/Eigen/src/SparseCore/SparseVector.h +478 -0
- data/vendor/Eigen/src/SparseCore/SparseView.h +254 -0
- data/vendor/Eigen/src/SparseCore/TriangularSolver.h +315 -0
- data/vendor/Eigen/src/SparseLU/SparseLU.h +923 -0
- data/vendor/Eigen/src/SparseLU/SparseLUImpl.h +66 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_Memory.h +226 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_Structs.h +110 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h +375 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_Utils.h +80 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_column_bmod.h +181 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_column_dfs.h +179 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h +107 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_gemm_kernel.h +280 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h +126 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_kernel_bmod.h +130 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_panel_bmod.h +223 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_panel_dfs.h +258 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_pivotL.h +137 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_pruneL.h +136 -0
- data/vendor/Eigen/src/SparseLU/SparseLU_relax_snode.h +83 -0
- data/vendor/Eigen/src/SparseQR/SparseQR.h +758 -0
- data/vendor/Eigen/src/StlSupport/StdDeque.h +116 -0
- data/vendor/Eigen/src/StlSupport/StdList.h +106 -0
- data/vendor/Eigen/src/StlSupport/StdVector.h +131 -0
- data/vendor/Eigen/src/StlSupport/details.h +84 -0
- data/vendor/Eigen/src/SuperLUSupport/SuperLUSupport.h +1025 -0
- data/vendor/Eigen/src/UmfPackSupport/UmfPackSupport.h +642 -0
- data/vendor/Eigen/src/misc/Image.h +82 -0
- data/vendor/Eigen/src/misc/Kernel.h +79 -0
- data/vendor/Eigen/src/misc/RealSvd2x2.h +55 -0
- data/vendor/Eigen/src/misc/blas.h +440 -0
- data/vendor/Eigen/src/misc/lapack.h +152 -0
- data/vendor/Eigen/src/misc/lapacke.h +16292 -0
- data/vendor/Eigen/src/misc/lapacke_mangling.h +17 -0
- data/vendor/Eigen/src/plugins/ArrayCwiseBinaryOps.h +358 -0
- data/vendor/Eigen/src/plugins/ArrayCwiseUnaryOps.h +696 -0
- data/vendor/Eigen/src/plugins/BlockMethods.h +1442 -0
- data/vendor/Eigen/src/plugins/CommonCwiseBinaryOps.h +115 -0
- data/vendor/Eigen/src/plugins/CommonCwiseUnaryOps.h +177 -0
- data/vendor/Eigen/src/plugins/IndexedViewMethods.h +262 -0
- data/vendor/Eigen/src/plugins/MatrixCwiseBinaryOps.h +152 -0
- data/vendor/Eigen/src/plugins/MatrixCwiseUnaryOps.h +95 -0
- data/vendor/Eigen/src/plugins/ReshapedMethods.h +149 -0
- data/vendor/aarand/aarand.hpp +114 -0
- data/vendor/annoy/annoylib.h +1495 -0
- data/vendor/annoy/kissrandom.h +120 -0
- data/vendor/annoy/mman.h +242 -0
- data/vendor/hnswlib/bruteforce.h +152 -0
- data/vendor/hnswlib/hnswalg.h +1192 -0
- data/vendor/hnswlib/hnswlib.h +108 -0
- data/vendor/hnswlib/space_ip.h +282 -0
- data/vendor/hnswlib/space_l2.h +281 -0
- data/vendor/hnswlib/visited_list_pool.h +79 -0
- data/vendor/irlba/irlba.hpp +575 -0
- data/vendor/irlba/lanczos.hpp +212 -0
- data/vendor/irlba/parallel.hpp +474 -0
- data/vendor/irlba/utils.hpp +224 -0
- data/vendor/irlba/wrappers.hpp +228 -0
- data/vendor/kmeans/Base.hpp +75 -0
- data/vendor/kmeans/Details.hpp +79 -0
- data/vendor/kmeans/HartiganWong.hpp +492 -0
- data/vendor/kmeans/InitializeKmeansPP.hpp +144 -0
- data/vendor/kmeans/InitializeNone.hpp +44 -0
- data/vendor/kmeans/InitializePCAPartition.hpp +309 -0
- data/vendor/kmeans/InitializeRandom.hpp +91 -0
- data/vendor/kmeans/Kmeans.hpp +161 -0
- data/vendor/kmeans/Lloyd.hpp +134 -0
- data/vendor/kmeans/MiniBatch.hpp +269 -0
- data/vendor/kmeans/QuickSearch.hpp +179 -0
- data/vendor/kmeans/compute_centroids.hpp +32 -0
- data/vendor/kmeans/compute_wcss.hpp +27 -0
- data/vendor/kmeans/is_edge_case.hpp +42 -0
- data/vendor/kmeans/random.hpp +55 -0
- data/vendor/knncolle/Annoy/Annoy.hpp +193 -0
- data/vendor/knncolle/BruteForce/BruteForce.hpp +120 -0
- data/vendor/knncolle/Hnsw/Hnsw.hpp +225 -0
- data/vendor/knncolle/Kmknn/Kmknn.hpp +286 -0
- data/vendor/knncolle/VpTree/VpTree.hpp +256 -0
- data/vendor/knncolle/knncolle.hpp +34 -0
- data/vendor/knncolle/utils/Base.hpp +100 -0
- data/vendor/knncolle/utils/NeighborQueue.hpp +94 -0
- data/vendor/knncolle/utils/distances.hpp +98 -0
- data/vendor/knncolle/utils/find_nearest_neighbors.hpp +112 -0
- data/vendor/powerit/PowerIterations.hpp +157 -0
- data/vendor/umappp/NeighborList.hpp +37 -0
- data/vendor/umappp/Umap.hpp +662 -0
- data/vendor/umappp/combine_neighbor_sets.hpp +95 -0
- data/vendor/umappp/find_ab.hpp +157 -0
- data/vendor/umappp/neighbor_similarities.hpp +136 -0
- data/vendor/umappp/optimize_layout.hpp +285 -0
- data/vendor/umappp/spectral_init.hpp +181 -0
- data/vendor/umappp/umappp.hpp +13 -0
- metadata +465 -0
@@ -0,0 +1,870 @@
|
|
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
|
+
public:
|
38
|
+
typedef RotationBase<Derived, 3> Base;
|
39
|
+
|
40
|
+
using Base::operator*;
|
41
|
+
using Base::derived;
|
42
|
+
|
43
|
+
typedef typename internal::traits<Derived>::Scalar Scalar;
|
44
|
+
typedef typename NumTraits<Scalar>::Real RealScalar;
|
45
|
+
typedef typename internal::traits<Derived>::Coefficients Coefficients;
|
46
|
+
typedef typename Coefficients::CoeffReturnType CoeffReturnType;
|
47
|
+
typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
|
48
|
+
Scalar&, CoeffReturnType>::type NonConstCoeffReturnType;
|
49
|
+
|
50
|
+
|
51
|
+
enum {
|
52
|
+
Flags = Eigen::internal::traits<Derived>::Flags
|
53
|
+
};
|
54
|
+
|
55
|
+
// typedef typename Matrix<Scalar,4,1> Coefficients;
|
56
|
+
/** the type of a 3D vector */
|
57
|
+
typedef Matrix<Scalar,3,1> Vector3;
|
58
|
+
/** the equivalent rotation matrix type */
|
59
|
+
typedef Matrix<Scalar,3,3> Matrix3;
|
60
|
+
/** the equivalent angle-axis type */
|
61
|
+
typedef AngleAxis<Scalar> AngleAxisType;
|
62
|
+
|
63
|
+
|
64
|
+
|
65
|
+
/** \returns the \c x coefficient */
|
66
|
+
EIGEN_DEVICE_FUNC inline CoeffReturnType x() const { return this->derived().coeffs().coeff(0); }
|
67
|
+
/** \returns the \c y coefficient */
|
68
|
+
EIGEN_DEVICE_FUNC inline CoeffReturnType y() const { return this->derived().coeffs().coeff(1); }
|
69
|
+
/** \returns the \c z coefficient */
|
70
|
+
EIGEN_DEVICE_FUNC inline CoeffReturnType z() const { return this->derived().coeffs().coeff(2); }
|
71
|
+
/** \returns the \c w coefficient */
|
72
|
+
EIGEN_DEVICE_FUNC inline CoeffReturnType w() const { return this->derived().coeffs().coeff(3); }
|
73
|
+
|
74
|
+
/** \returns a reference to the \c x coefficient (if Derived is a non-const lvalue) */
|
75
|
+
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType x() { return this->derived().coeffs().x(); }
|
76
|
+
/** \returns a reference to the \c y coefficient (if Derived is a non-const lvalue) */
|
77
|
+
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType y() { return this->derived().coeffs().y(); }
|
78
|
+
/** \returns a reference to the \c z coefficient (if Derived is a non-const lvalue) */
|
79
|
+
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType z() { return this->derived().coeffs().z(); }
|
80
|
+
/** \returns a reference to the \c w coefficient (if Derived is a non-const lvalue) */
|
81
|
+
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }
|
82
|
+
|
83
|
+
/** \returns a read-only vector expression of the imaginary part (x,y,z) */
|
84
|
+
EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
|
85
|
+
|
86
|
+
/** \returns a vector expression of the imaginary part (x,y,z) */
|
87
|
+
EIGEN_DEVICE_FUNC inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
|
88
|
+
|
89
|
+
/** \returns a read-only vector expression of the coefficients (x,y,z,w) */
|
90
|
+
EIGEN_DEVICE_FUNC inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
|
91
|
+
|
92
|
+
/** \returns a vector expression of the coefficients (x,y,z,w) */
|
93
|
+
EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
|
94
|
+
|
95
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
|
96
|
+
template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
|
97
|
+
|
98
|
+
// disabled this copy operator as it is giving very strange compilation errors when compiling
|
99
|
+
// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
|
100
|
+
// useful; however notice that we already have the templated operator= above and e.g. in MatrixBase
|
101
|
+
// we didn't have to add, in addition to templated operator=, such a non-templated copy operator.
|
102
|
+
// Derived& operator=(const QuaternionBase& other)
|
103
|
+
// { return operator=<Derived>(other); }
|
104
|
+
|
105
|
+
EIGEN_DEVICE_FUNC Derived& operator=(const AngleAxisType& aa);
|
106
|
+
template<class OtherDerived> EIGEN_DEVICE_FUNC Derived& operator=(const MatrixBase<OtherDerived>& m);
|
107
|
+
|
108
|
+
/** \returns a quaternion representing an identity rotation
|
109
|
+
* \sa MatrixBase::Identity()
|
110
|
+
*/
|
111
|
+
EIGEN_DEVICE_FUNC static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
|
112
|
+
|
113
|
+
/** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
|
114
|
+
*/
|
115
|
+
EIGEN_DEVICE_FUNC inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
|
116
|
+
|
117
|
+
/** \returns the squared norm of the quaternion's coefficients
|
118
|
+
* \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
|
119
|
+
*/
|
120
|
+
EIGEN_DEVICE_FUNC inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
|
121
|
+
|
122
|
+
/** \returns the norm of the quaternion's coefficients
|
123
|
+
* \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
|
124
|
+
*/
|
125
|
+
EIGEN_DEVICE_FUNC inline Scalar norm() const { return coeffs().norm(); }
|
126
|
+
|
127
|
+
/** Normalizes the quaternion \c *this
|
128
|
+
* \sa normalized(), MatrixBase::normalize() */
|
129
|
+
EIGEN_DEVICE_FUNC inline void normalize() { coeffs().normalize(); }
|
130
|
+
/** \returns a normalized copy of \c *this
|
131
|
+
* \sa normalize(), MatrixBase::normalized() */
|
132
|
+
EIGEN_DEVICE_FUNC inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
|
133
|
+
|
134
|
+
/** \returns the dot product of \c *this and \a other
|
135
|
+
* Geometrically speaking, the dot product of two unit quaternions
|
136
|
+
* corresponds to the cosine of half the angle between the two rotations.
|
137
|
+
* \sa angularDistance()
|
138
|
+
*/
|
139
|
+
template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
|
140
|
+
|
141
|
+
template<class OtherDerived> EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
|
142
|
+
|
143
|
+
/** \returns an equivalent 3x3 rotation matrix */
|
144
|
+
EIGEN_DEVICE_FUNC inline Matrix3 toRotationMatrix() const;
|
145
|
+
|
146
|
+
/** \returns the quaternion which transform \a a into \a b through a rotation */
|
147
|
+
template<typename Derived1, typename Derived2>
|
148
|
+
EIGEN_DEVICE_FUNC Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
|
149
|
+
|
150
|
+
template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
|
151
|
+
template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
|
152
|
+
|
153
|
+
/** \returns the quaternion describing the inverse rotation */
|
154
|
+
EIGEN_DEVICE_FUNC Quaternion<Scalar> inverse() const;
|
155
|
+
|
156
|
+
/** \returns the conjugated quaternion */
|
157
|
+
EIGEN_DEVICE_FUNC Quaternion<Scalar> conjugate() const;
|
158
|
+
|
159
|
+
template<class OtherDerived> EIGEN_DEVICE_FUNC Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
|
160
|
+
|
161
|
+
/** \returns true if each coefficients of \c *this and \a other are all exactly equal.
|
162
|
+
* \warning When using floating point scalar values you probably should rather use a
|
163
|
+
* fuzzy comparison such as isApprox()
|
164
|
+
* \sa isApprox(), operator!= */
|
165
|
+
template<class OtherDerived>
|
166
|
+
EIGEN_DEVICE_FUNC inline bool operator==(const QuaternionBase<OtherDerived>& other) const
|
167
|
+
{ return coeffs() == other.coeffs(); }
|
168
|
+
|
169
|
+
/** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
|
170
|
+
* \warning When using floating point scalar values you probably should rather use a
|
171
|
+
* fuzzy comparison such as isApprox()
|
172
|
+
* \sa isApprox(), operator== */
|
173
|
+
template<class OtherDerived>
|
174
|
+
EIGEN_DEVICE_FUNC inline bool operator!=(const QuaternionBase<OtherDerived>& other) const
|
175
|
+
{ return coeffs() != other.coeffs(); }
|
176
|
+
|
177
|
+
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
|
178
|
+
* determined by \a prec.
|
179
|
+
*
|
180
|
+
* \sa MatrixBase::isApprox() */
|
181
|
+
template<class OtherDerived>
|
182
|
+
EIGEN_DEVICE_FUNC bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
|
183
|
+
{ return coeffs().isApprox(other.coeffs(), prec); }
|
184
|
+
|
185
|
+
/** return the result vector of \a v through the rotation*/
|
186
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
|
187
|
+
|
188
|
+
#ifdef EIGEN_PARSED_BY_DOXYGEN
|
189
|
+
/** \returns \c *this with scalar type casted to \a NewScalarType
|
190
|
+
*
|
191
|
+
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
192
|
+
* then this function smartly returns a const reference to \c *this.
|
193
|
+
*/
|
194
|
+
template<typename NewScalarType>
|
195
|
+
EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const;
|
196
|
+
|
197
|
+
#else
|
198
|
+
|
199
|
+
template<typename NewScalarType>
|
200
|
+
EIGEN_DEVICE_FUNC inline
|
201
|
+
typename internal::enable_if<internal::is_same<Scalar,NewScalarType>::value,const Derived&>::type cast() const
|
202
|
+
{
|
203
|
+
return derived();
|
204
|
+
}
|
205
|
+
|
206
|
+
template<typename NewScalarType>
|
207
|
+
EIGEN_DEVICE_FUNC inline
|
208
|
+
typename internal::enable_if<!internal::is_same<Scalar,NewScalarType>::value,Quaternion<NewScalarType> >::type cast() const
|
209
|
+
{
|
210
|
+
return Quaternion<NewScalarType>(coeffs().template cast<NewScalarType>());
|
211
|
+
}
|
212
|
+
#endif
|
213
|
+
|
214
|
+
#ifndef EIGEN_NO_IO
|
215
|
+
friend std::ostream& operator<<(std::ostream& s, const QuaternionBase<Derived>& q) {
|
216
|
+
s << q.x() << "i + " << q.y() << "j + " << q.z() << "k" << " + " << q.w();
|
217
|
+
return s;
|
218
|
+
}
|
219
|
+
#endif
|
220
|
+
|
221
|
+
#ifdef EIGEN_QUATERNIONBASE_PLUGIN
|
222
|
+
# include EIGEN_QUATERNIONBASE_PLUGIN
|
223
|
+
#endif
|
224
|
+
protected:
|
225
|
+
EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
|
226
|
+
EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
|
227
|
+
};
|
228
|
+
|
229
|
+
/***************************************************************************
|
230
|
+
* Definition/implementation of Quaternion<Scalar>
|
231
|
+
***************************************************************************/
|
232
|
+
|
233
|
+
/** \geometry_module \ingroup Geometry_Module
|
234
|
+
*
|
235
|
+
* \class Quaternion
|
236
|
+
*
|
237
|
+
* \brief The quaternion class used to represent 3D orientations and rotations
|
238
|
+
*
|
239
|
+
* \tparam _Scalar the scalar type, i.e., the type of the coefficients
|
240
|
+
* \tparam _Options controls the memory alignment of the coefficients. Can be \# AutoAlign or \# DontAlign. Default is AutoAlign.
|
241
|
+
*
|
242
|
+
* This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
|
243
|
+
* orientations and rotations of objects in three dimensions. Compared to other representations
|
244
|
+
* like Euler angles or 3x3 matrices, quaternions offer the following advantages:
|
245
|
+
* \li \b compact storage (4 scalars)
|
246
|
+
* \li \b efficient to compose (28 flops),
|
247
|
+
* \li \b stable spherical interpolation
|
248
|
+
*
|
249
|
+
* The following two typedefs are provided for convenience:
|
250
|
+
* \li \c Quaternionf for \c float
|
251
|
+
* \li \c Quaterniond for \c double
|
252
|
+
*
|
253
|
+
* \warning Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.
|
254
|
+
*
|
255
|
+
* \sa class AngleAxis, class Transform
|
256
|
+
*/
|
257
|
+
|
258
|
+
namespace internal {
|
259
|
+
template<typename _Scalar,int _Options>
|
260
|
+
struct traits<Quaternion<_Scalar,_Options> >
|
261
|
+
{
|
262
|
+
typedef Quaternion<_Scalar,_Options> PlainObject;
|
263
|
+
typedef _Scalar Scalar;
|
264
|
+
typedef Matrix<_Scalar,4,1,_Options> Coefficients;
|
265
|
+
enum{
|
266
|
+
Alignment = internal::traits<Coefficients>::Alignment,
|
267
|
+
Flags = LvalueBit
|
268
|
+
};
|
269
|
+
};
|
270
|
+
}
|
271
|
+
|
272
|
+
template<typename _Scalar, int _Options>
|
273
|
+
class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
|
274
|
+
{
|
275
|
+
public:
|
276
|
+
typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
|
277
|
+
enum { NeedsAlignment = internal::traits<Quaternion>::Alignment>0 };
|
278
|
+
|
279
|
+
typedef _Scalar Scalar;
|
280
|
+
|
281
|
+
EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion)
|
282
|
+
using Base::operator*=;
|
283
|
+
|
284
|
+
typedef typename internal::traits<Quaternion>::Coefficients Coefficients;
|
285
|
+
typedef typename Base::AngleAxisType AngleAxisType;
|
286
|
+
|
287
|
+
/** Default constructor leaving the quaternion uninitialized. */
|
288
|
+
EIGEN_DEVICE_FUNC inline Quaternion() {}
|
289
|
+
|
290
|
+
/** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
|
291
|
+
* its four coefficients \a w, \a x, \a y and \a z.
|
292
|
+
*
|
293
|
+
* \warning Note the order of the arguments: the real \a w coefficient first,
|
294
|
+
* while internally the coefficients are stored in the following order:
|
295
|
+
* [\c x, \c y, \c z, \c w]
|
296
|
+
*/
|
297
|
+
EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
|
298
|
+
|
299
|
+
/** Constructs and initialize a quaternion from the array data */
|
300
|
+
EIGEN_DEVICE_FUNC explicit inline Quaternion(const Scalar* data) : m_coeffs(data) {}
|
301
|
+
|
302
|
+
/** Copy constructor */
|
303
|
+
template<class Derived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
|
304
|
+
|
305
|
+
/** Constructs and initializes a quaternion from the angle-axis \a aa */
|
306
|
+
EIGEN_DEVICE_FUNC explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
|
307
|
+
|
308
|
+
/** Constructs and initializes a quaternion from either:
|
309
|
+
* - a rotation matrix expression,
|
310
|
+
* - a 4D vector expression representing quaternion coefficients.
|
311
|
+
*/
|
312
|
+
template<typename Derived>
|
313
|
+
EIGEN_DEVICE_FUNC explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
|
314
|
+
|
315
|
+
/** Explicit copy constructor with scalar conversion */
|
316
|
+
template<typename OtherScalar, int OtherOptions>
|
317
|
+
EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
|
318
|
+
{ m_coeffs = other.coeffs().template cast<Scalar>(); }
|
319
|
+
|
320
|
+
#if EIGEN_HAS_RVALUE_REFERENCES
|
321
|
+
// We define a copy constructor, which means we don't get an implicit move constructor or assignment operator.
|
322
|
+
/** Default move constructor */
|
323
|
+
EIGEN_DEVICE_FUNC inline Quaternion(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
|
324
|
+
: m_coeffs(std::move(other.coeffs()))
|
325
|
+
{}
|
326
|
+
|
327
|
+
/** Default move assignment operator */
|
328
|
+
EIGEN_DEVICE_FUNC Quaternion& operator=(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
|
329
|
+
{
|
330
|
+
m_coeffs = std::move(other.coeffs());
|
331
|
+
return *this;
|
332
|
+
}
|
333
|
+
#endif
|
334
|
+
|
335
|
+
EIGEN_DEVICE_FUNC static Quaternion UnitRandom();
|
336
|
+
|
337
|
+
template<typename Derived1, typename Derived2>
|
338
|
+
EIGEN_DEVICE_FUNC static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
|
339
|
+
|
340
|
+
EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs;}
|
341
|
+
EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
|
342
|
+
|
343
|
+
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(NeedsAlignment))
|
344
|
+
|
345
|
+
#ifdef EIGEN_QUATERNION_PLUGIN
|
346
|
+
# include EIGEN_QUATERNION_PLUGIN
|
347
|
+
#endif
|
348
|
+
|
349
|
+
protected:
|
350
|
+
Coefficients m_coeffs;
|
351
|
+
|
352
|
+
#ifndef EIGEN_PARSED_BY_DOXYGEN
|
353
|
+
static EIGEN_STRONG_INLINE void _check_template_params()
|
354
|
+
{
|
355
|
+
EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options,
|
356
|
+
INVALID_MATRIX_TEMPLATE_PARAMETERS)
|
357
|
+
}
|
358
|
+
#endif
|
359
|
+
};
|
360
|
+
|
361
|
+
/** \ingroup Geometry_Module
|
362
|
+
* single precision quaternion type */
|
363
|
+
typedef Quaternion<float> Quaternionf;
|
364
|
+
/** \ingroup Geometry_Module
|
365
|
+
* double precision quaternion type */
|
366
|
+
typedef Quaternion<double> Quaterniond;
|
367
|
+
|
368
|
+
/***************************************************************************
|
369
|
+
* Specialization of Map<Quaternion<Scalar>>
|
370
|
+
***************************************************************************/
|
371
|
+
|
372
|
+
namespace internal {
|
373
|
+
template<typename _Scalar, int _Options>
|
374
|
+
struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
|
375
|
+
{
|
376
|
+
typedef Map<Matrix<_Scalar,4,1>, _Options> Coefficients;
|
377
|
+
};
|
378
|
+
}
|
379
|
+
|
380
|
+
namespace internal {
|
381
|
+
template<typename _Scalar, int _Options>
|
382
|
+
struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
|
383
|
+
{
|
384
|
+
typedef Map<const Matrix<_Scalar,4,1>, _Options> Coefficients;
|
385
|
+
typedef traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > TraitsBase;
|
386
|
+
enum {
|
387
|
+
Flags = TraitsBase::Flags & ~LvalueBit
|
388
|
+
};
|
389
|
+
};
|
390
|
+
}
|
391
|
+
|
392
|
+
/** \ingroup Geometry_Module
|
393
|
+
* \brief Quaternion expression mapping a constant memory buffer
|
394
|
+
*
|
395
|
+
* \tparam _Scalar the type of the Quaternion coefficients
|
396
|
+
* \tparam _Options see class Map
|
397
|
+
*
|
398
|
+
* This is a specialization of class Map for Quaternion. This class allows to view
|
399
|
+
* a 4 scalar memory buffer as an Eigen's Quaternion object.
|
400
|
+
*
|
401
|
+
* \sa class Map, class Quaternion, class QuaternionBase
|
402
|
+
*/
|
403
|
+
template<typename _Scalar, int _Options>
|
404
|
+
class Map<const Quaternion<_Scalar>, _Options >
|
405
|
+
: public QuaternionBase<Map<const Quaternion<_Scalar>, _Options> >
|
406
|
+
{
|
407
|
+
public:
|
408
|
+
typedef QuaternionBase<Map<const Quaternion<_Scalar>, _Options> > Base;
|
409
|
+
|
410
|
+
typedef _Scalar Scalar;
|
411
|
+
typedef typename internal::traits<Map>::Coefficients Coefficients;
|
412
|
+
EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
|
413
|
+
using Base::operator*=;
|
414
|
+
|
415
|
+
/** Constructs a Mapped Quaternion object from the pointer \a coeffs
|
416
|
+
*
|
417
|
+
* The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
|
418
|
+
* \code *coeffs == {x, y, z, w} \endcode
|
419
|
+
*
|
420
|
+
* If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
|
421
|
+
EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
|
422
|
+
|
423
|
+
EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
|
424
|
+
|
425
|
+
protected:
|
426
|
+
const Coefficients m_coeffs;
|
427
|
+
};
|
428
|
+
|
429
|
+
/** \ingroup Geometry_Module
|
430
|
+
* \brief Expression of a quaternion from a memory buffer
|
431
|
+
*
|
432
|
+
* \tparam _Scalar the type of the Quaternion coefficients
|
433
|
+
* \tparam _Options see class Map
|
434
|
+
*
|
435
|
+
* This is a specialization of class Map for Quaternion. This class allows to view
|
436
|
+
* a 4 scalar memory buffer as an Eigen's Quaternion object.
|
437
|
+
*
|
438
|
+
* \sa class Map, class Quaternion, class QuaternionBase
|
439
|
+
*/
|
440
|
+
template<typename _Scalar, int _Options>
|
441
|
+
class Map<Quaternion<_Scalar>, _Options >
|
442
|
+
: public QuaternionBase<Map<Quaternion<_Scalar>, _Options> >
|
443
|
+
{
|
444
|
+
public:
|
445
|
+
typedef QuaternionBase<Map<Quaternion<_Scalar>, _Options> > Base;
|
446
|
+
|
447
|
+
typedef _Scalar Scalar;
|
448
|
+
typedef typename internal::traits<Map>::Coefficients Coefficients;
|
449
|
+
EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
|
450
|
+
using Base::operator*=;
|
451
|
+
|
452
|
+
/** Constructs a Mapped Quaternion object from the pointer \a coeffs
|
453
|
+
*
|
454
|
+
* The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
|
455
|
+
* \code *coeffs == {x, y, z, w} \endcode
|
456
|
+
*
|
457
|
+
* If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
|
458
|
+
EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
|
459
|
+
|
460
|
+
EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
|
461
|
+
EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
|
462
|
+
|
463
|
+
protected:
|
464
|
+
Coefficients m_coeffs;
|
465
|
+
};
|
466
|
+
|
467
|
+
/** \ingroup Geometry_Module
|
468
|
+
* Map an unaligned array of single precision scalars as a quaternion */
|
469
|
+
typedef Map<Quaternion<float>, 0> QuaternionMapf;
|
470
|
+
/** \ingroup Geometry_Module
|
471
|
+
* Map an unaligned array of double precision scalars as a quaternion */
|
472
|
+
typedef Map<Quaternion<double>, 0> QuaternionMapd;
|
473
|
+
/** \ingroup Geometry_Module
|
474
|
+
* Map a 16-byte aligned array of single precision scalars as a quaternion */
|
475
|
+
typedef Map<Quaternion<float>, Aligned> QuaternionMapAlignedf;
|
476
|
+
/** \ingroup Geometry_Module
|
477
|
+
* Map a 16-byte aligned array of double precision scalars as a quaternion */
|
478
|
+
typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
|
479
|
+
|
480
|
+
/***************************************************************************
|
481
|
+
* Implementation of QuaternionBase methods
|
482
|
+
***************************************************************************/
|
483
|
+
|
484
|
+
// Generic Quaternion * Quaternion product
|
485
|
+
// This product can be specialized for a given architecture via the Arch template argument.
|
486
|
+
namespace internal {
|
487
|
+
template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product
|
488
|
+
{
|
489
|
+
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
|
490
|
+
return Quaternion<Scalar>
|
491
|
+
(
|
492
|
+
a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
|
493
|
+
a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
|
494
|
+
a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
|
495
|
+
a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
|
496
|
+
);
|
497
|
+
}
|
498
|
+
};
|
499
|
+
}
|
500
|
+
|
501
|
+
/** \returns the concatenation of two rotations as a quaternion-quaternion product */
|
502
|
+
template <class Derived>
|
503
|
+
template <class OtherDerived>
|
504
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
|
505
|
+
QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
|
506
|
+
{
|
507
|
+
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
|
508
|
+
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
|
509
|
+
return internal::quat_product<Architecture::Target, Derived, OtherDerived,
|
510
|
+
typename internal::traits<Derived>::Scalar>::run(*this, other);
|
511
|
+
}
|
512
|
+
|
513
|
+
/** \sa operator*(Quaternion) */
|
514
|
+
template <class Derived>
|
515
|
+
template <class OtherDerived>
|
516
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
|
517
|
+
{
|
518
|
+
derived() = derived() * other.derived();
|
519
|
+
return derived();
|
520
|
+
}
|
521
|
+
|
522
|
+
/** Rotation of a vector by a quaternion.
|
523
|
+
* \remarks If the quaternion is used to rotate several points (>1)
|
524
|
+
* then it is much more efficient to first convert it to a 3x3 Matrix.
|
525
|
+
* Comparison of the operation cost for n transformations:
|
526
|
+
* - Quaternion2: 30n
|
527
|
+
* - Via a Matrix3: 24 + 15n
|
528
|
+
*/
|
529
|
+
template <class Derived>
|
530
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
|
531
|
+
QuaternionBase<Derived>::_transformVector(const Vector3& v) const
|
532
|
+
{
|
533
|
+
// Note that this algorithm comes from the optimization by hand
|
534
|
+
// of the conversion to a Matrix followed by a Matrix/Vector product.
|
535
|
+
// It appears to be much faster than the common algorithm found
|
536
|
+
// in the literature (30 versus 39 flops). It also requires two
|
537
|
+
// Vector3 as temporaries.
|
538
|
+
Vector3 uv = this->vec().cross(v);
|
539
|
+
uv += uv;
|
540
|
+
return v + this->w() * uv + this->vec().cross(uv);
|
541
|
+
}
|
542
|
+
|
543
|
+
template<class Derived>
|
544
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
|
545
|
+
{
|
546
|
+
coeffs() = other.coeffs();
|
547
|
+
return derived();
|
548
|
+
}
|
549
|
+
|
550
|
+
template<class Derived>
|
551
|
+
template<class OtherDerived>
|
552
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
|
553
|
+
{
|
554
|
+
coeffs() = other.coeffs();
|
555
|
+
return derived();
|
556
|
+
}
|
557
|
+
|
558
|
+
/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
|
559
|
+
*/
|
560
|
+
template<class Derived>
|
561
|
+
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
|
562
|
+
{
|
563
|
+
EIGEN_USING_STD(cos)
|
564
|
+
EIGEN_USING_STD(sin)
|
565
|
+
Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
|
566
|
+
this->w() = cos(ha);
|
567
|
+
this->vec() = sin(ha) * aa.axis();
|
568
|
+
return derived();
|
569
|
+
}
|
570
|
+
|
571
|
+
/** Set \c *this from the expression \a xpr:
|
572
|
+
* - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
|
573
|
+
* - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
|
574
|
+
* and \a xpr is converted to a quaternion
|
575
|
+
*/
|
576
|
+
|
577
|
+
template<class Derived>
|
578
|
+
template<class MatrixDerived>
|
579
|
+
EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
|
580
|
+
{
|
581
|
+
EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
|
582
|
+
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
|
583
|
+
internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
|
584
|
+
return derived();
|
585
|
+
}
|
586
|
+
|
587
|
+
/** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
|
588
|
+
* be normalized, otherwise the result is undefined.
|
589
|
+
*/
|
590
|
+
template<class Derived>
|
591
|
+
EIGEN_DEVICE_FUNC inline typename QuaternionBase<Derived>::Matrix3
|
592
|
+
QuaternionBase<Derived>::toRotationMatrix(void) const
|
593
|
+
{
|
594
|
+
// NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
|
595
|
+
// if not inlined then the cost of the return by value is huge ~ +35%,
|
596
|
+
// however, not inlining this function is an order of magnitude slower, so
|
597
|
+
// it has to be inlined, and so the return by value is not an issue
|
598
|
+
Matrix3 res;
|
599
|
+
|
600
|
+
const Scalar tx = Scalar(2)*this->x();
|
601
|
+
const Scalar ty = Scalar(2)*this->y();
|
602
|
+
const Scalar tz = Scalar(2)*this->z();
|
603
|
+
const Scalar twx = tx*this->w();
|
604
|
+
const Scalar twy = ty*this->w();
|
605
|
+
const Scalar twz = tz*this->w();
|
606
|
+
const Scalar txx = tx*this->x();
|
607
|
+
const Scalar txy = ty*this->x();
|
608
|
+
const Scalar txz = tz*this->x();
|
609
|
+
const Scalar tyy = ty*this->y();
|
610
|
+
const Scalar tyz = tz*this->y();
|
611
|
+
const Scalar tzz = tz*this->z();
|
612
|
+
|
613
|
+
res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
|
614
|
+
res.coeffRef(0,1) = txy-twz;
|
615
|
+
res.coeffRef(0,2) = txz+twy;
|
616
|
+
res.coeffRef(1,0) = txy+twz;
|
617
|
+
res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
|
618
|
+
res.coeffRef(1,2) = tyz-twx;
|
619
|
+
res.coeffRef(2,0) = txz-twy;
|
620
|
+
res.coeffRef(2,1) = tyz+twx;
|
621
|
+
res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
|
622
|
+
|
623
|
+
return res;
|
624
|
+
}
|
625
|
+
|
626
|
+
/** Sets \c *this to be a quaternion representing a rotation between
|
627
|
+
* the two arbitrary vectors \a a and \a b. In other words, the built
|
628
|
+
* rotation represent a rotation sending the line of direction \a a
|
629
|
+
* to the line of direction \a b, both lines passing through the origin.
|
630
|
+
*
|
631
|
+
* \returns a reference to \c *this.
|
632
|
+
*
|
633
|
+
* Note that the two input vectors do \b not have to be normalized, and
|
634
|
+
* do not need to have the same norm.
|
635
|
+
*/
|
636
|
+
template<class Derived>
|
637
|
+
template<typename Derived1, typename Derived2>
|
638
|
+
EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
|
639
|
+
{
|
640
|
+
EIGEN_USING_STD(sqrt)
|
641
|
+
Vector3 v0 = a.normalized();
|
642
|
+
Vector3 v1 = b.normalized();
|
643
|
+
Scalar c = v1.dot(v0);
|
644
|
+
|
645
|
+
// if dot == -1, vectors are nearly opposites
|
646
|
+
// => accurately compute the rotation axis by computing the
|
647
|
+
// intersection of the two planes. This is done by solving:
|
648
|
+
// x^T v0 = 0
|
649
|
+
// x^T v1 = 0
|
650
|
+
// under the constraint:
|
651
|
+
// ||x|| = 1
|
652
|
+
// which yields a singular value problem
|
653
|
+
if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
|
654
|
+
{
|
655
|
+
c = numext::maxi(c,Scalar(-1));
|
656
|
+
Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
|
657
|
+
JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
|
658
|
+
Vector3 axis = svd.matrixV().col(2);
|
659
|
+
|
660
|
+
Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
|
661
|
+
this->w() = sqrt(w2);
|
662
|
+
this->vec() = axis * sqrt(Scalar(1) - w2);
|
663
|
+
return derived();
|
664
|
+
}
|
665
|
+
Vector3 axis = v0.cross(v1);
|
666
|
+
Scalar s = sqrt((Scalar(1)+c)*Scalar(2));
|
667
|
+
Scalar invs = Scalar(1)/s;
|
668
|
+
this->vec() = axis * invs;
|
669
|
+
this->w() = s * Scalar(0.5);
|
670
|
+
|
671
|
+
return derived();
|
672
|
+
}
|
673
|
+
|
674
|
+
/** \returns a random unit quaternion following a uniform distribution law on SO(3)
|
675
|
+
*
|
676
|
+
* \note The implementation is based on http://planning.cs.uiuc.edu/node198.html
|
677
|
+
*/
|
678
|
+
template<typename Scalar, int Options>
|
679
|
+
EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRandom()
|
680
|
+
{
|
681
|
+
EIGEN_USING_STD(sqrt)
|
682
|
+
EIGEN_USING_STD(sin)
|
683
|
+
EIGEN_USING_STD(cos)
|
684
|
+
const Scalar u1 = internal::random<Scalar>(0, 1),
|
685
|
+
u2 = internal::random<Scalar>(0, 2*EIGEN_PI),
|
686
|
+
u3 = internal::random<Scalar>(0, 2*EIGEN_PI);
|
687
|
+
const Scalar a = sqrt(Scalar(1) - u1),
|
688
|
+
b = sqrt(u1);
|
689
|
+
return Quaternion (a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
|
690
|
+
}
|
691
|
+
|
692
|
+
|
693
|
+
/** Returns a quaternion representing a rotation between
|
694
|
+
* the two arbitrary vectors \a a and \a b. In other words, the built
|
695
|
+
* rotation represent a rotation sending the line of direction \a a
|
696
|
+
* to the line of direction \a b, both lines passing through the origin.
|
697
|
+
*
|
698
|
+
* \returns resulting quaternion
|
699
|
+
*
|
700
|
+
* Note that the two input vectors do \b not have to be normalized, and
|
701
|
+
* do not need to have the same norm.
|
702
|
+
*/
|
703
|
+
template<typename Scalar, int Options>
|
704
|
+
template<typename Derived1, typename Derived2>
|
705
|
+
EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
|
706
|
+
{
|
707
|
+
Quaternion quat;
|
708
|
+
quat.setFromTwoVectors(a, b);
|
709
|
+
return quat;
|
710
|
+
}
|
711
|
+
|
712
|
+
|
713
|
+
/** \returns the multiplicative inverse of \c *this
|
714
|
+
* Note that in most cases, i.e., if you simply want the opposite rotation,
|
715
|
+
* and/or the quaternion is normalized, then it is enough to use the conjugate.
|
716
|
+
*
|
717
|
+
* \sa QuaternionBase::conjugate()
|
718
|
+
*/
|
719
|
+
template <class Derived>
|
720
|
+
EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
|
721
|
+
{
|
722
|
+
// FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite() ??
|
723
|
+
Scalar n2 = this->squaredNorm();
|
724
|
+
if (n2 > Scalar(0))
|
725
|
+
return Quaternion<Scalar>(conjugate().coeffs() / n2);
|
726
|
+
else
|
727
|
+
{
|
728
|
+
// return an invalid result to flag the error
|
729
|
+
return Quaternion<Scalar>(Coefficients::Zero());
|
730
|
+
}
|
731
|
+
}
|
732
|
+
|
733
|
+
// Generic conjugate of a Quaternion
|
734
|
+
namespace internal {
|
735
|
+
template<int Arch, class Derived, typename Scalar> struct quat_conj
|
736
|
+
{
|
737
|
+
EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
|
738
|
+
return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
|
739
|
+
}
|
740
|
+
};
|
741
|
+
}
|
742
|
+
|
743
|
+
/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
|
744
|
+
* if the quaternion is normalized.
|
745
|
+
* The conjugate of a quaternion represents the opposite rotation.
|
746
|
+
*
|
747
|
+
* \sa Quaternion2::inverse()
|
748
|
+
*/
|
749
|
+
template <class Derived>
|
750
|
+
EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
|
751
|
+
QuaternionBase<Derived>::conjugate() const
|
752
|
+
{
|
753
|
+
return internal::quat_conj<Architecture::Target, Derived,
|
754
|
+
typename internal::traits<Derived>::Scalar>::run(*this);
|
755
|
+
|
756
|
+
}
|
757
|
+
|
758
|
+
/** \returns the angle (in radian) between two rotations
|
759
|
+
* \sa dot()
|
760
|
+
*/
|
761
|
+
template <class Derived>
|
762
|
+
template <class OtherDerived>
|
763
|
+
EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar
|
764
|
+
QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
|
765
|
+
{
|
766
|
+
EIGEN_USING_STD(atan2)
|
767
|
+
Quaternion<Scalar> d = (*this) * other.conjugate();
|
768
|
+
return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) );
|
769
|
+
}
|
770
|
+
|
771
|
+
|
772
|
+
|
773
|
+
/** \returns the spherical linear interpolation between the two quaternions
|
774
|
+
* \c *this and \a other at the parameter \a t in [0;1].
|
775
|
+
*
|
776
|
+
* This represents an interpolation for a constant motion between \c *this and \a other,
|
777
|
+
* see also http://en.wikipedia.org/wiki/Slerp.
|
778
|
+
*/
|
779
|
+
template <class Derived>
|
780
|
+
template <class OtherDerived>
|
781
|
+
EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar>
|
782
|
+
QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const
|
783
|
+
{
|
784
|
+
EIGEN_USING_STD(acos)
|
785
|
+
EIGEN_USING_STD(sin)
|
786
|
+
const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
|
787
|
+
Scalar d = this->dot(other);
|
788
|
+
Scalar absD = numext::abs(d);
|
789
|
+
|
790
|
+
Scalar scale0;
|
791
|
+
Scalar scale1;
|
792
|
+
|
793
|
+
if(absD>=one)
|
794
|
+
{
|
795
|
+
scale0 = Scalar(1) - t;
|
796
|
+
scale1 = t;
|
797
|
+
}
|
798
|
+
else
|
799
|
+
{
|
800
|
+
// theta is the angle between the 2 quaternions
|
801
|
+
Scalar theta = acos(absD);
|
802
|
+
Scalar sinTheta = sin(theta);
|
803
|
+
|
804
|
+
scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta;
|
805
|
+
scale1 = sin( ( t * theta) ) / sinTheta;
|
806
|
+
}
|
807
|
+
if(d<Scalar(0)) scale1 = -scale1;
|
808
|
+
|
809
|
+
return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
|
810
|
+
}
|
811
|
+
|
812
|
+
namespace internal {
|
813
|
+
|
814
|
+
// set from a rotation matrix
|
815
|
+
template<typename Other>
|
816
|
+
struct quaternionbase_assign_impl<Other,3,3>
|
817
|
+
{
|
818
|
+
typedef typename Other::Scalar Scalar;
|
819
|
+
template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
|
820
|
+
{
|
821
|
+
const typename internal::nested_eval<Other,2>::type mat(a_mat);
|
822
|
+
EIGEN_USING_STD(sqrt)
|
823
|
+
// This algorithm comes from "Quaternion Calculus and Fast Animation",
|
824
|
+
// Ken Shoemake, 1987 SIGGRAPH course notes
|
825
|
+
Scalar t = mat.trace();
|
826
|
+
if (t > Scalar(0))
|
827
|
+
{
|
828
|
+
t = sqrt(t + Scalar(1.0));
|
829
|
+
q.w() = Scalar(0.5)*t;
|
830
|
+
t = Scalar(0.5)/t;
|
831
|
+
q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
|
832
|
+
q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
|
833
|
+
q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
|
834
|
+
}
|
835
|
+
else
|
836
|
+
{
|
837
|
+
Index i = 0;
|
838
|
+
if (mat.coeff(1,1) > mat.coeff(0,0))
|
839
|
+
i = 1;
|
840
|
+
if (mat.coeff(2,2) > mat.coeff(i,i))
|
841
|
+
i = 2;
|
842
|
+
Index j = (i+1)%3;
|
843
|
+
Index k = (j+1)%3;
|
844
|
+
|
845
|
+
t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
|
846
|
+
q.coeffs().coeffRef(i) = Scalar(0.5) * t;
|
847
|
+
t = Scalar(0.5)/t;
|
848
|
+
q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
|
849
|
+
q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
|
850
|
+
q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
|
851
|
+
}
|
852
|
+
}
|
853
|
+
};
|
854
|
+
|
855
|
+
// set from a vector of coefficients assumed to be a quaternion
|
856
|
+
template<typename Other>
|
857
|
+
struct quaternionbase_assign_impl<Other,4,1>
|
858
|
+
{
|
859
|
+
typedef typename Other::Scalar Scalar;
|
860
|
+
template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& vec)
|
861
|
+
{
|
862
|
+
q.coeffs() = vec;
|
863
|
+
}
|
864
|
+
};
|
865
|
+
|
866
|
+
} // end namespace internal
|
867
|
+
|
868
|
+
} // end namespace Eigen
|
869
|
+
|
870
|
+
#endif // EIGEN_QUATERNION_H
|