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Diffstat (limited to 'extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h')
| -rw-r--r-- | extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h | 119 |
1 files changed, 0 insertions, 119 deletions
diff --git a/extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h b/extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h deleted file mode 100644 index 047152d0b99..00000000000 --- a/extern/Eigen2/Eigen/src/Geometry/OrthoMethods.h +++ /dev/null @@ -1,119 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. Eigen itself is part of the KDE project. -// -// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> -// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com> -// -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see <http://www.gnu.org/licenses/>. - -#ifndef EIGEN_ORTHOMETHODS_H -#define EIGEN_ORTHOMETHODS_H - -/** \geometry_module - * - * \returns the cross product of \c *this and \a other - * - * Here is a very good explanation of cross-product: http://xkcd.com/199/ - */ -template<typename Derived> -template<typename OtherDerived> -inline typename MatrixBase<Derived>::PlainMatrixType -MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const -{ - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3) - - // Note that there is no need for an expression here since the compiler - // optimize such a small temporary very well (even within a complex expression) - const typename ei_nested<Derived,2>::type lhs(derived()); - const typename ei_nested<OtherDerived,2>::type rhs(other.derived()); - return typename ei_plain_matrix_type<Derived>::type( - lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1), - lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2), - lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0) - ); -} - -template<typename Derived, int Size = Derived::SizeAtCompileTime> -struct ei_unitOrthogonal_selector -{ - typedef typename ei_plain_matrix_type<Derived>::type VectorType; - typedef typename ei_traits<Derived>::Scalar Scalar; - typedef typename NumTraits<Scalar>::Real RealScalar; - inline static VectorType run(const Derived& src) - { - VectorType perp(src.size()); - /* Let us compute the crossed product of *this with a vector - * that is not too close to being colinear to *this. - */ - - /* unless the x and y coords are both close to zero, we can - * simply take ( -y, x, 0 ) and normalize it. - */ - if((!ei_isMuchSmallerThan(src.x(), src.z())) - || (!ei_isMuchSmallerThan(src.y(), src.z()))) - { - RealScalar invnm = RealScalar(1)/src.template start<2>().norm(); - perp.coeffRef(0) = -ei_conj(src.y())*invnm; - perp.coeffRef(1) = ei_conj(src.x())*invnm; - perp.coeffRef(2) = 0; - } - /* if both x and y are close to zero, then the vector is close - * to the z-axis, so it's far from colinear to the x-axis for instance. - * So we take the crossed product with (1,0,0) and normalize it. - */ - else - { - RealScalar invnm = RealScalar(1)/src.template end<2>().norm(); - perp.coeffRef(0) = 0; - perp.coeffRef(1) = -ei_conj(src.z())*invnm; - perp.coeffRef(2) = ei_conj(src.y())*invnm; - } - if( (Derived::SizeAtCompileTime!=Dynamic && Derived::SizeAtCompileTime>3) - || (Derived::SizeAtCompileTime==Dynamic && src.size()>3) ) - perp.end(src.size()-3).setZero(); - - return perp; - } -}; - -template<typename Derived> -struct ei_unitOrthogonal_selector<Derived,2> -{ - typedef typename ei_plain_matrix_type<Derived>::type VectorType; - inline static VectorType run(const Derived& src) - { return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); } -}; - -/** \returns a unit vector which is orthogonal to \c *this - * - * The size of \c *this must be at least 2. If the size is exactly 2, - * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized(). - * - * \sa cross() - */ -template<typename Derived> -typename MatrixBase<Derived>::PlainMatrixType -MatrixBase<Derived>::unitOrthogonal() const -{ - EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived) - return ei_unitOrthogonal_selector<Derived>::run(derived()); -} - -#endif // EIGEN_ORTHOMETHODS_H |