sequenzo 0.1.18__cp39-cp39-macosx_10_9_universal2.whl → 0.1.19__cp39-cp39-macosx_10_9_universal2.whl

sequenzo/dissimilarity_measures/src/eigen/Eigen/src/Geometry/AngleAxis.h

@@ -1,247 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ANGLEAXIS_H
-#define EIGEN_ANGLEAXIS_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class AngleAxis
-  *
-  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  *
-  * \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized.
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c AngleAxisf for \c float
-  * \li \c AngleAxisd for \c double
-  *
-  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
-  * mimic Euler-angles. Here is an example:
-  * \include AngleAxis_mimic_euler.cpp
-  * Output: \verbinclude AngleAxis_mimic_euler.out
-  *
-  * \note This class is not aimed to be used to store a rotation transformation,
-  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
-  * and transformation objects.
-  *
-  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
-  */
-
-namespace internal {
-template<typename _Scalar> struct traits<AngleAxis<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-}
-
-template<typename _Scalar>
-class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
-{
-  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 3 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,3,3> Matrix3;
-  typedef Matrix<Scalar,3,1> Vector3;
-  typedef Quaternion<Scalar> QuaternionType;
-
-protected:
-
-  Vector3 m_axis;
-  Scalar m_angle;
-
-public:
-
-  /** Default constructor without initialization. */
-  EIGEN_DEVICE_FUNC AngleAxis() {}
-  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
-    * and an \a axis which \b must \b be \b normalized.
-    *
-    * \warning If the \a axis vector is not normalized, then the angle-axis object
-    *          represents an invalid rotation. */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC 
-  inline AngleAxis(const Scalar& angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
-  /** Constructs and initialize the angle-axis rotation from a quaternion \a q.
-    * This function implicitly normalizes the quaternion \a q.
-    */
-  template<typename QuatDerived> 
-  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
-  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
-
-  /** \returns the value of the rotation angle in radian */
-  EIGEN_DEVICE_FUNC Scalar angle() const { return m_angle; }
-  /** \returns a read-write reference to the stored angle in radian */
-  EIGEN_DEVICE_FUNC Scalar& angle() { return m_angle; }
-
-  /** \returns the rotation axis */
-  EIGEN_DEVICE_FUNC const Vector3& axis() const { return m_axis; }
-  /** \returns a read-write reference to the stored rotation axis.
-    *
-    * \warning The rotation axis must remain a \b unit vector.
-    */
-  EIGEN_DEVICE_FUNC Vector3& axis() { return m_axis; }
-
-  /** Concatenates two rotations */
-  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const AngleAxis& other) const
-  { return QuaternionType(*this) * QuaternionType(other); }
-
-  /** Concatenates two rotations */
-  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& other) const
-  { return QuaternionType(*this) * other; }
-
-  /** Concatenates two rotations */
-  friend EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
-  { return a * QuaternionType(b); }
-
-  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
-  EIGEN_DEVICE_FUNC AngleAxis inverse() const
-  { return AngleAxis(-m_angle, m_axis); }
-
-  template<class QuatDerived>
-  EIGEN_DEVICE_FUNC AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC AngleAxis& operator=(const MatrixBase<Derived>& m);
-
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
-  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix(void) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
-  {
-    m_axis = other.axis().template cast<Scalar>();
-    m_angle = Scalar(other.angle());
-  }
-
-  EIGEN_DEVICE_FUNC static inline const AngleAxis Identity() { return AngleAxis(Scalar(0), Vector3::UnitX()); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  EIGEN_DEVICE_FUNC bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
-};
-
-/** \ingroup Geometry_Module
-  * single precision angle-axis type */
-typedef AngleAxis<float> AngleAxisf;
-/** \ingroup Geometry_Module
-  * double precision angle-axis type */
-typedef AngleAxis<double> AngleAxisd;
-
-/** Set \c *this from a \b unit quaternion.
-  *
-  * The resulting axis is normalized, and the computed angle is in the [0,pi] range.
-  * 
-  * This function implicitly normalizes the quaternion \a q.
-  */
-template<typename Scalar>
-template<typename QuatDerived>
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
-{
-  EIGEN_USING_STD(atan2)
-  EIGEN_USING_STD(abs)
-  Scalar n = q.vec().norm();
-  if(n<NumTraits<Scalar>::epsilon())
-    n = q.vec().stableNorm();
-
-  if (n != Scalar(0))
-  {
-    m_angle = Scalar(2)*atan2(n, abs(q.w()));
-    if(q.w() < Scalar(0))
-      n = -n;
-    m_axis  = q.vec() / n;
-  }
-  else
-  {
-    m_angle = Scalar(0);
-    m_axis << Scalar(1), Scalar(0), Scalar(0);
-  }
-  return *this;
-}
-
-/** Set \c *this from a 3x3 rotation matrix \a mat.
-  */
-template<typename Scalar>
-template<typename Derived>
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
-{
-  // Since a direct conversion would not be really faster,
-  // let's use the robust Quaternion implementation:
-  return *this = QuaternionType(mat);
-}
-
-/**
-* \brief Sets \c *this from a 3x3 rotation matrix.
-**/
-template<typename Scalar>
-template<typename Derived>
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
-{
-  return *this = QuaternionType(mat);
-}
-
-/** Constructs and \returns an equivalent 3x3 rotation matrix.
-  */
-template<typename Scalar>
-typename AngleAxis<Scalar>::Matrix3
-EIGEN_DEVICE_FUNC AngleAxis<Scalar>::toRotationMatrix(void) const
-{
-  EIGEN_USING_STD(sin)
-  EIGEN_USING_STD(cos)
-  Matrix3 res;
-  Vector3 sin_axis  = sin(m_angle) * m_axis;
-  Scalar c = cos(m_angle);
-  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
-
-  Scalar tmp;
-  tmp = cos1_axis.x() * m_axis.y();
-  res.coeffRef(0,1) = tmp - sin_axis.z();
-  res.coeffRef(1,0) = tmp + sin_axis.z();
-
-  tmp = cos1_axis.x() * m_axis.z();
-  res.coeffRef(0,2) = tmp + sin_axis.y();
-  res.coeffRef(2,0) = tmp - sin_axis.y();
-
-  tmp = cos1_axis.y() * m_axis.z();
-  res.coeffRef(1,2) = tmp - sin_axis.x();
-  res.coeffRef(2,1) = tmp + sin_axis.x();
-
-  res.diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;
-
-  return res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ANGLEAXIS_H

sequenzo/dissimilarity_measures/src/eigen/Eigen/src/Geometry/EulerAngles.h

@@ -1,114 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_EULERANGLES_H
-#define EIGEN_EULERANGLES_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  *
-  * \returns the Euler-angles of the rotation matrix \c *this using the convention defined by the triplet (\a a0,\a a1,\a a2)
-  *
-  * Each of the three parameters \a a0,\a a1,\a a2 represents the respective rotation axis as an integer in {0,1,2}.
-  * For instance, in:
-  * \code Vector3f ea = mat.eulerAngles(2, 0, 2); \endcode
-  * "2" represents the z axis and "0" the x axis, etc. The returned angles are such that
-  * we have the following equality:
-  * \code
-  * mat == AngleAxisf(ea[0], Vector3f::UnitZ())
-  *      * AngleAxisf(ea[1], Vector3f::UnitX())
-  *      * AngleAxisf(ea[2], Vector3f::UnitZ()); \endcode
-  * This corresponds to the right-multiply conventions (with right hand side frames).
-  * 
-  * The returned angles are in the ranges [0:pi]x[-pi:pi]x[-pi:pi].
-  * 
-  * \sa class AngleAxis
-  */
-template<typename Derived>
-EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
-MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
-{
-  EIGEN_USING_STD(atan2)
-  EIGEN_USING_STD(sin)
-  EIGEN_USING_STD(cos)
-  /* Implemented from Graphics Gems IV */
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
-
-  Matrix<Scalar,3,1> res;
-  typedef Matrix<typename Derived::Scalar,2,1> Vector2;
-
-  const Index odd = ((a0+1)%3 == a1) ? 0 : 1;
-  const Index i = a0;
-  const Index j = (a0 + 1 + odd)%3;
-  const Index k = (a0 + 2 - odd)%3;
-  
-  if (a0==a2)
-  {
-    res[0] = atan2(coeff(j,i), coeff(k,i));
-    if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0)))
-    {
-      if(res[0] > Scalar(0)) {
-        res[0] -= Scalar(EIGEN_PI);
-      }
-      else {
-        res[0] += Scalar(EIGEN_PI);
-      }
-      Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();
-      res[1] = -atan2(s2, coeff(i,i));
-    }
-    else
-    {
-      Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();
-      res[1] = atan2(s2, coeff(i,i));
-    }
-    
-    // With a=(0,1,0), we have i=0; j=1; k=2, and after computing the first two angles,
-    // we can compute their respective rotation, and apply its inverse to M. Since the result must
-    // be a rotation around x, we have:
-    //
-    //  c2  s1.s2 c1.s2                   1  0   0 
-    //  0   c1    -s1       *    M    =   0  c3  s3
-    //  -s2 s1.c2 c1.c2                   0 -s3  c3
-    //
-    //  Thus:  m11.c1 - m21.s1 = c3  &   m12.c1 - m22.s1 = s3
-    
-    Scalar s1 = sin(res[0]);
-    Scalar c1 = cos(res[0]);
-    res[2] = atan2(c1*coeff(j,k)-s1*coeff(k,k), c1*coeff(j,j) - s1 * coeff(k,j));
-  } 
-  else
-  {
-    res[0] = atan2(coeff(j,k), coeff(k,k));
-    Scalar c2 = Vector2(coeff(i,i), coeff(i,j)).norm();
-    if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0))) {
-      if(res[0] > Scalar(0)) {
-        res[0] -= Scalar(EIGEN_PI);
-      }
-      else {
-        res[0] += Scalar(EIGEN_PI);
-      }
-      res[1] = atan2(-coeff(i,k), -c2);
-    }
-    else
-      res[1] = atan2(-coeff(i,k), c2);
-    Scalar s1 = sin(res[0]);
-    Scalar c1 = cos(res[0]);
-    res[2] = atan2(s1*coeff(k,i)-c1*coeff(j,i), c1*coeff(j,j) - s1 * coeff(k,j));
-  }
-  if (!odd)
-    res = -res;
-  
-  return res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_EULERANGLES_H