diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/EulerAngles.h')
-rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/EulerAngles.h | 60 |
1 files changed, 40 insertions, 20 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h b/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h index e424d240604..82802fb43cf 100644 --- a/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h +++ b/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h @@ -27,55 +27,75 @@ namespace Eigen { * * 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> inline Matrix<typename MatrixBase<Derived>::Scalar,3,1> MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const { + using std::atan2; + using std::sin; + 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 Scalar epsilon = NumTraits<Scalar>::dummy_precision(); 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) { - Scalar s = Vector2(coeff(j,i) , coeff(k,i)).norm(); - res[1] = internal::atan2(s, coeff(i,i)); - if (s > epsilon) + res[0] = atan2(coeff(j,i), coeff(k,i)); + if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0))) { - res[0] = internal::atan2(coeff(j,i), coeff(k,i)); - res[2] = internal::atan2(coeff(i,j),-coeff(i,k)); + res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI); + Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm(); + res[1] = -atan2(s2, coeff(i,i)); } else { - res[0] = Scalar(0); - res[2] = (coeff(i,i)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j)); + 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 { - Scalar c = Vector2(coeff(i,i) , coeff(i,j)).norm(); - res[1] = internal::atan2(-coeff(i,k), c); - if (c > epsilon) - { - res[0] = internal::atan2(coeff(j,k), coeff(k,k)); - res[2] = internal::atan2(coeff(i,j), coeff(i,i)); + 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))) { + res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI); + res[1] = atan2(-coeff(i,k), -c2); } else - { - res[0] = Scalar(0); - res[2] = (coeff(i,k)>0?1:-1)*internal::atan2(-coeff(k,j), coeff(j,j)); - } + 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; } |