diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/Quaternion.h')
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Quaternion.h | 77 |
1 files changed, 48 insertions, 29 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/Quaternion.h b/extern/Eigen3/Eigen/src/Geometry/Quaternion.h index 9180db67d84..8792e2da2ae 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Quaternion.h +++ b/extern/Eigen3/Eigen/src/Geometry/Quaternion.h @@ -4,27 +4,14 @@ // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr> // Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr> // -// 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/>. +// 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_QUATERNION_H #define EIGEN_QUATERNION_H +namespace Eigen { + /*************************************************************************** * Definition of QuaternionBase<Derived> @@ -38,6 +25,12 @@ template<typename Other, struct quaternionbase_assign_impl; } +/** \geometry_module \ingroup Geometry_Module + * \class QuaternionBase + * \brief Base class for quaternion expressions + * \tparam Derived derived type (CRTP) + * \sa class Quaternion + */ template<class Derived> class QuaternionBase : public RotationBase<Derived, 3> { @@ -109,7 +102,7 @@ public: /** \returns a quaternion representing an identity rotation * \sa MatrixBase::Identity() */ - inline static Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); } + static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); } /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity() */ @@ -278,6 +271,9 @@ public: explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other) { m_coeffs = other.coeffs().template cast<Scalar>(); } + template<typename Derived1, typename Derived2> + static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b); + inline Coefficients& coeffs() { return m_coeffs;} inline const Coefficients& coeffs() const { return m_coeffs;} @@ -287,7 +283,7 @@ protected: Coefficients m_coeffs; #ifndef EIGEN_PARSED_BY_DOXYGEN - EIGEN_STRONG_INLINE static void _check_template_params() + static EIGEN_STRONG_INLINE void _check_template_params() { EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options, INVALID_MATRIX_TEMPLATE_PARAMETERS) @@ -434,7 +430,7 @@ typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd; namespace internal { template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product { - EIGEN_STRONG_INLINE static Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){ + static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){ return Quaternion<Scalar> ( a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(), @@ -544,9 +540,9 @@ QuaternionBase<Derived>::toRotationMatrix(void) const // it has to be inlined, and so the return by value is not an issue Matrix3 res; - const Scalar tx = 2*this->x(); - const Scalar ty = 2*this->y(); - const Scalar tz = 2*this->z(); + const Scalar tx = Scalar(2)*this->x(); + const Scalar ty = Scalar(2)*this->y(); + const Scalar tz = Scalar(2)*this->z(); const Scalar twx = tx*this->w(); const Scalar twy = ty*this->w(); const Scalar twz = tz*this->w(); @@ -557,15 +553,15 @@ QuaternionBase<Derived>::toRotationMatrix(void) const const Scalar tyz = tz*this->y(); const Scalar tzz = tz*this->z(); - res.coeffRef(0,0) = 1-(tyy+tzz); + res.coeffRef(0,0) = Scalar(1)-(tyy+tzz); res.coeffRef(0,1) = txy-twz; res.coeffRef(0,2) = txz+twy; res.coeffRef(1,0) = txy+twz; - res.coeffRef(1,1) = 1-(txx+tzz); + res.coeffRef(1,1) = Scalar(1)-(txx+tzz); res.coeffRef(1,2) = tyz-twx; res.coeffRef(2,0) = txz-twy; res.coeffRef(2,1) = tyz+twx; - res.coeffRef(2,2) = 1-(txx+tyy); + res.coeffRef(2,2) = Scalar(1)-(txx+tyy); return res; } @@ -618,6 +614,27 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri return derived(); } + +/** Returns a quaternion representing a rotation between + * the two arbitrary vectors \a a and \a b. In other words, the built + * rotation represent a rotation sending the line of direction \a a + * to the line of direction \a b, both lines passing through the origin. + * + * \returns resulting quaternion + * + * Note that the two input vectors do \b not have to be normalized, and + * do not need to have the same norm. + */ +template<typename Scalar, int Options> +template<typename Derived1, typename Derived2> +Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b) +{ + Quaternion quat; + quat.setFromTwoVectors(a, b); + return quat; +} + + /** \returns the multiplicative inverse of \c *this * Note that in most cases, i.e., if you simply want the opposite rotation, * and/or the quaternion is normalized, then it is enough to use the conjugate. @@ -709,7 +726,7 @@ struct quaternionbase_assign_impl<Other,3,3> { typedef typename Other::Scalar Scalar; typedef DenseIndex Index; - template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& mat) + template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& mat) { // This algorithm comes from "Quaternion Calculus and Fast Animation", // Ken Shoemake, 1987 SIGGRAPH course notes @@ -748,7 +765,7 @@ template<typename Other> struct quaternionbase_assign_impl<Other,4,1> { typedef typename Other::Scalar Scalar; - template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& vec) + template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& vec) { q.coeffs() = vec; } @@ -756,4 +773,6 @@ struct quaternionbase_assign_impl<Other,4,1> } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_QUATERNION_H |