diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry')
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/AlignedBox.h | 67 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/AngleAxis.h | 27 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/EulerAngles.h | 24 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Homogeneous.h | 39 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Hyperplane.h | 25 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h | 39 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h | 67 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Quaternion.h | 77 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Rotation2D.h | 27 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/RotationBase.h | 37 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Scaling.h | 40 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Transform.h | 115 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Translation.h | 31 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Umeyama.h | 25 | ||||
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h | 31 |
15 files changed, 315 insertions, 356 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/AlignedBox.h b/extern/Eigen3/Eigen/src/Geometry/AlignedBox.h index b51deb3f3c3..5830fcd35fc 100644 --- a/extern/Eigen3/Eigen/src/Geometry/AlignedBox.h +++ b/extern/Eigen3/Eigen/src/Geometry/AlignedBox.h @@ -3,28 +3,15 @@ // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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_ALIGNEDBOX_H #define EIGEN_ALIGNEDBOX_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * @@ -190,7 +177,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) template<typename Derived> inline bool contains(const MatrixBase<Derived>& a_p) const { - const typename internal::nested<Derived,2>::type p(a_p.derived()); + typename internal::nested<Derived,2>::type p(a_p.derived()); return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).all(); } @@ -202,7 +189,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) template<typename Derived> inline AlignedBox& extend(const MatrixBase<Derived>& a_p) { - const typename internal::nested<Derived,2>::type p(a_p.derived()); + typename internal::nested<Derived,2>::type p(a_p.derived()); m_min = m_min.cwiseMin(p); m_max = m_max.cwiseMax(p); return *this; @@ -310,7 +297,7 @@ template<typename Derived> inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const { const typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived()); - Scalar dist2 = 0.; + Scalar dist2(0); Scalar aux; for (Index k=0; k<dim(); ++k) { @@ -331,7 +318,7 @@ inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const Matri template<typename Scalar,int AmbientDim> inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const { - Scalar dist2 = 0.; + Scalar dist2(0); Scalar aux; for (Index k=0; k<dim(); ++k) { @@ -349,4 +336,40 @@ inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const Align return dist2; } +/** \defgroup alignedboxtypedefs Global aligned box typedefs + * + * \ingroup Geometry_Module + * + * Eigen defines several typedef shortcuts for most common aligned box types. + * + * The general patterns are the following: + * + * \c AlignedBoxSizeType where \c Size can be \c 1, \c 2,\c 3,\c 4 for fixed size boxes or \c X for dynamic size, + * and where \c Type can be \c i for integer, \c f for float, \c d for double. + * + * For example, \c AlignedBox3d is a fixed-size 3x3 aligned box type of doubles, and \c AlignedBoxXf is a dynamic-size aligned box of floats. + * + * \sa class AlignedBox + */ + +#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ +/** \ingroup alignedboxtypedefs */ \ +typedef AlignedBox<Type, Size> AlignedBox##SizeSuffix##TypeSuffix; + +#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \ +EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \ +EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \ +EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \ +EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \ +EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) + +EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i) +EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f) +EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) + +#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES +#undef EIGEN_MAKE_TYPEDEFS + +} // end namespace Eigen + #endif // EIGEN_ALIGNEDBOX_H diff --git a/extern/Eigen3/Eigen/src/Geometry/AngleAxis.h b/extern/Eigen3/Eigen/src/Geometry/AngleAxis.h index 0ec4624cf98..67197ac78c3 100644 --- a/extern/Eigen3/Eigen/src/Geometry/AngleAxis.h +++ b/extern/Eigen3/Eigen/src/Geometry/AngleAxis.h @@ -3,28 +3,15 @@ // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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_ANGLEAXIS_H #define EIGEN_ANGLEAXIS_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * \class AngleAxis @@ -144,7 +131,7 @@ public: m_angle = Scalar(other.angle()); } - inline static const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); } + static inline const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); } /** \returns \c true if \c *this is approximately equal to \a other, within the precision * determined by \a prec. @@ -238,4 +225,6 @@ AngleAxis<Scalar>::toRotationMatrix(void) const return res; } +} // end namespace Eigen + #endif // EIGEN_ANGLEAXIS_H diff --git a/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h b/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h index d246a6ebf4a..e424d240604 100644 --- a/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h +++ b/extern/Eigen3/Eigen/src/Geometry/EulerAngles.h @@ -3,28 +3,15 @@ // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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_EULERANGLES_H #define EIGEN_EULERANGLES_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * @@ -92,5 +79,6 @@ MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const return res; } +} // end namespace Eigen #endif // EIGEN_EULERANGLES_H diff --git a/extern/Eigen3/Eigen/src/Geometry/Homogeneous.h b/extern/Eigen3/Eigen/src/Geometry/Homogeneous.h index 2bc4f7e87e3..df03feb55c6 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Homogeneous.h +++ b/extern/Eigen3/Eigen/src/Geometry/Homogeneous.h @@ -3,28 +3,15 @@ // // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.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_HOMOGENEOUS_H #define EIGEN_HOMOGENEOUS_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * \class Homogeneous @@ -121,7 +108,7 @@ template<typename MatrixType,int _Direction> class Homogeneous } protected: - const typename MatrixType::Nested m_matrix; + typename MatrixType::Nested m_matrix; }; /** \geometry_module @@ -216,8 +203,8 @@ template<typename Scalar, int Dim, int Mode,int Options> struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> > { typedef Transform<Scalar, Dim, Mode, Options> TransformType; - typedef typename TransformType::ConstAffinePart type; - static const type run (const TransformType& x) { return x.affine(); } + typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type; + static type run (const TransformType& x) { return x.affine(); } }; template<typename Scalar, int Dim, int Options> @@ -270,8 +257,8 @@ struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs> .template replicate<MatrixType::ColsAtCompileTime>(m_rhs.cols()); } - const typename LhsMatrixTypeCleaned::Nested m_lhs; - const typename MatrixType::Nested m_rhs; + typename LhsMatrixTypeCleaned::Nested m_lhs; + typename MatrixType::Nested m_rhs; }; template<typename MatrixType,typename Rhs> @@ -309,10 +296,12 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> .template replicate<MatrixType::RowsAtCompileTime>(m_lhs.rows()); } - const typename MatrixType::Nested m_lhs; - const typename Rhs::Nested m_rhs; + typename MatrixType::Nested m_lhs; + typename Rhs::Nested m_rhs; }; } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_HOMOGENEOUS_H diff --git a/extern/Eigen3/Eigen/src/Geometry/Hyperplane.h b/extern/Eigen3/Eigen/src/Geometry/Hyperplane.h index d85d3e553f8..1b7c7c78c80 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Hyperplane.h +++ b/extern/Eigen3/Eigen/src/Geometry/Hyperplane.h @@ -4,28 +4,15 @@ // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> // Copyright (C) 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/>. +// 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_HYPERPLANE_H #define EIGEN_HYPERPLANE_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * \class Hyperplane @@ -277,4 +264,6 @@ protected: Coefficients m_coeffs; }; +} // end namespace Eigen + #endif // EIGEN_HYPERPLANE_H diff --git a/extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h b/extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h index 52b46988196..11ad5829cda 100644 --- a/extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h +++ b/extern/Eigen3/Eigen/src/Geometry/OrthoMethods.h @@ -4,28 +4,15 @@ // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.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/>. +// 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_ORTHOMETHODS_H #define EIGEN_ORTHOMETHODS_H +namespace Eigen { + /** \geometry_module * * \returns the cross product of \c *this and \a other @@ -43,8 +30,8 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const // 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 internal::nested<Derived,2>::type lhs(derived()); - const typename internal::nested<OtherDerived,2>::type rhs(other.derived()); + typename internal::nested<Derived,2>::type lhs(derived()); + typename internal::nested<OtherDerived,2>::type rhs(other.derived()); return typename cross_product_return_type<OtherDerived>::type( internal::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)), internal::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)), @@ -56,9 +43,9 @@ namespace internal { template< int Arch,typename VectorLhs,typename VectorRhs, typename Scalar = typename VectorLhs::Scalar, - bool Vectorizable = (VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit> + bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit)> struct cross3_impl { - inline static typename internal::plain_matrix_type<VectorLhs>::type + static inline typename internal::plain_matrix_type<VectorLhs>::type run(const VectorLhs& lhs, const VectorRhs& rhs) { return typename internal::plain_matrix_type<VectorLhs>::type( @@ -145,7 +132,7 @@ struct unitOrthogonal_selector typedef typename NumTraits<Scalar>::Real RealScalar; typedef typename Derived::Index Index; typedef Matrix<Scalar,2,1> Vector2; - inline static VectorType run(const Derived& src) + static inline VectorType run(const Derived& src) { VectorType perp = VectorType::Zero(src.size()); Index maxi = 0; @@ -167,7 +154,7 @@ struct unitOrthogonal_selector<Derived,3> typedef typename plain_matrix_type<Derived>::type VectorType; typedef typename traits<Derived>::Scalar Scalar; typedef typename NumTraits<Scalar>::Real RealScalar; - inline static VectorType run(const Derived& src) + static inline VectorType run(const Derived& src) { VectorType perp; /* Let us compute the crossed product of *this with a vector @@ -205,7 +192,7 @@ template<typename Derived> struct unitOrthogonal_selector<Derived,2> { typedef typename plain_matrix_type<Derived>::type VectorType; - inline static VectorType run(const Derived& src) + static inline VectorType run(const Derived& src) { return VectorType(-conj(src.y()), conj(src.x())).normalized(); } }; @@ -226,4 +213,6 @@ MatrixBase<Derived>::unitOrthogonal() const return internal::unitOrthogonal_selector<Derived>::run(derived()); } +} // end namespace Eigen + #endif // EIGEN_ORTHOMETHODS_H diff --git a/extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h b/extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h index b90f9c088a2..719a904413d 100644 --- a/extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h +++ b/extern/Eigen3/Eigen/src/Geometry/ParametrizedLine.h @@ -4,28 +4,15 @@ // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> // Copyright (C) 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/>. +// 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_PARAMETRIZEDLINE_H #define EIGEN_PARAMETRIZEDLINE_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * \class ParametrizedLine @@ -106,8 +93,16 @@ public: VectorType projection(const VectorType& p) const { return origin() + direction().dot(p-origin()) * direction(); } + VectorType pointAt( Scalar t ) const; + + template <int OtherOptions> + Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; + template <int OtherOptions> Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; + + template <int OtherOptions> + VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; /** \returns \c *this with scalar type casted to \a NewScalarType * @@ -155,14 +150,46 @@ inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const H origin() = -hyperplane.normal()*hyperplane.offset(); } -/** \returns the parameter value of the intersection between \c *this and the given hyperplane +/** \returns the point at \a t along this line + */ +template <typename _Scalar, int _AmbientDim, int _Options> +inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType +ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt( _Scalar t ) const +{ + return origin() + (direction()*t); +} + +/** \returns the parameter value of the intersection between \c *this and the given \a hyperplane */ template <typename _Scalar, int _AmbientDim, int _Options> template <int OtherOptions> -inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const +inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const { return -(hyperplane.offset()+hyperplane.normal().dot(origin())) / hyperplane.normal().dot(direction()); } + +/** \deprecated use intersectionParameter() + * \returns the parameter value of the intersection between \c *this and the given \a hyperplane + */ +template <typename _Scalar, int _AmbientDim, int _Options> +template <int OtherOptions> +inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const +{ + return intersectionParameter(hyperplane); +} + +/** \returns the point of the intersection between \c *this and the given hyperplane + */ +template <typename _Scalar, int _AmbientDim, int _Options> +template <int OtherOptions> +inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType +ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const +{ + return pointAt(intersectionParameter(hyperplane)); +} + +} // end namespace Eigen + #endif // EIGEN_PARAMETRIZEDLINE_H 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 diff --git a/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h b/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h index cf36da1c50c..868e2ef312f 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h +++ b/extern/Eigen3/Eigen/src/Geometry/Rotation2D.h @@ -3,28 +3,15 @@ // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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_ROTATION2D_H #define EIGEN_ROTATION2D_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * \class Rotation2D @@ -121,7 +108,7 @@ public: m_angle = Scalar(other.angle()); } - inline static Rotation2D Identity() { return Rotation2D(0); } + static inline Rotation2D Identity() { return Rotation2D(0); } /** \returns \c true if \c *this is approximately equal to \a other, within the precision * determined by \a prec. @@ -162,4 +149,6 @@ Rotation2D<Scalar>::toRotationMatrix(void) const return (Matrix2() << cosA, -sinA, sinA, cosA).finished(); } +} // end namespace Eigen + #endif // EIGEN_ROTATION2D_H diff --git a/extern/Eigen3/Eigen/src/Geometry/RotationBase.h b/extern/Eigen3/Eigen/src/Geometry/RotationBase.h index 1abf06bb640..b88661de6b1 100644 --- a/extern/Eigen3/Eigen/src/Geometry/RotationBase.h +++ b/extern/Eigen3/Eigen/src/Geometry/RotationBase.h @@ -3,28 +3,15 @@ // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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_ROTATIONBASE_H #define EIGEN_ROTATIONBASE_H +namespace Eigen { + // forward declaration namespace internal { template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime> @@ -115,7 +102,7 @@ struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false> { enum { Dim = RotationDerived::Dim }; typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType; - inline static ReturnType run(const RotationDerived& r, const MatrixType& m) + static inline ReturnType run(const RotationDerived& r, const MatrixType& m) { return r.toRotationMatrix() * m; } }; @@ -123,7 +110,7 @@ template<typename RotationDerived, typename Scalar, int Dim, int MaxDim> struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false > { typedef Transform<Scalar,Dim,Affine> ReturnType; - inline static ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m) + static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m) { ReturnType res(r); res.linear() *= m; @@ -136,7 +123,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr { enum { Dim = RotationDerived::Dim }; typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType; - EIGEN_STRONG_INLINE static ReturnType run(const RotationDerived& r, const OtherVectorType& v) + static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v) { return r._transformVector(v); } @@ -192,20 +179,20 @@ namespace internal { * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis */ template<typename Scalar, int Dim> -inline static Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s) +static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s) { EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE) return Rotation2D<Scalar>(s).toRotationMatrix(); } template<typename Scalar, int Dim, typename OtherDerived> -inline static Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) +static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r) { return r.toRotationMatrix(); } template<typename Scalar, int Dim, typename OtherDerived> -inline static const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat) +static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat) { EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim, YOU_MADE_A_PROGRAMMING_MISTAKE) @@ -214,4 +201,6 @@ inline static const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase< } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_ROTATIONBASE_H diff --git a/extern/Eigen3/Eigen/src/Geometry/Scaling.h b/extern/Eigen3/Eigen/src/Geometry/Scaling.h index c911d13e1d3..8edcac31c74 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Scaling.h +++ b/extern/Eigen3/Eigen/src/Geometry/Scaling.h @@ -3,28 +3,15 @@ // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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_SCALING_H #define EIGEN_SCALING_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * \class Scaling @@ -73,7 +60,12 @@ public: /** Concatenates a uniform scaling and an affine transformation */ template<int Dim, int Mode, int Options> - inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const; + inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const + { + Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t; + res.prescale(factor()); + return res; +} /** Concatenates a uniform scaling and a linear transformation matrix */ // TODO returns an expression @@ -169,14 +161,6 @@ UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const return res; } -template<typename Scalar> -template<int Dim,int Mode,int Options> -inline Transform<Scalar,Dim,Mode> -UniformScaling<Scalar>::operator* (const Transform<Scalar,Dim, Mode, Options>& t) const -{ - Transform<Scalar,Dim,Mode> res = t; - res.prescale(factor()); - return res; -} +} // end namespace Eigen #endif // EIGEN_SCALING_H diff --git a/extern/Eigen3/Eigen/src/Geometry/Transform.h b/extern/Eigen3/Eigen/src/Geometry/Transform.h index a694673ebed..4c1ef8eaade 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Transform.h +++ b/extern/Eigen3/Eigen/src/Geometry/Transform.h @@ -5,28 +5,15 @@ // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com> // Copyright (C) 2010 Hauke Heibel <hauke.heibel@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/>. +// 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_TRANSFORM_H #define EIGEN_TRANSFORM_H +namespace Eigen { + namespace internal { template<typename Transform> @@ -37,7 +24,7 @@ struct transform_traits Dim = Transform::Dim, HDim = Transform::HDim, Mode = Transform::Mode, - IsProjective = (Mode==Projective) + IsProjective = (int(Mode)==int(Projective)) }; }; @@ -207,9 +194,9 @@ public: /** type of the matrix used to represent the linear part of the transformation */ typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType; /** type of read/write reference to the linear part of the transformation */ - typedef Block<MatrixType,Dim,Dim> LinearPart; + typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact)> LinearPart; /** type of read reference to the linear part of the transformation */ - typedef const Block<ConstMatrixType,Dim,Dim> ConstLinearPart; + typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact)> ConstLinearPart; /** type of read/write reference to the affine part of the transformation */ typedef typename internal::conditional<int(Mode)==int(AffineCompact), MatrixType&, @@ -221,9 +208,9 @@ public: /** type of a vector */ typedef Matrix<Scalar,Dim,1> VectorType; /** type of a read/write reference to the translation part of the rotation */ - typedef Block<MatrixType,Dim,1> TranslationPart; + typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart; /** type of a read reference to the translation part of the rotation */ - typedef const Block<ConstMatrixType,Dim,1> ConstTranslationPart; + typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart; /** corresponding translation type */ typedef Translation<Scalar,Dim> TranslationType; @@ -279,6 +266,9 @@ public: template<typename OtherDerived> inline explicit Transform(const EigenBase<OtherDerived>& other) { + EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY); + check_template_params(); internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived()); } @@ -287,6 +277,9 @@ public: template<typename OtherDerived> inline Transform& operator=(const EigenBase<OtherDerived>& other) { + EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY); + internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived()); return *this; } @@ -376,9 +369,9 @@ public: inline MatrixType& matrix() { return m_matrix; } /** \returns a read-only expression of the linear part of the transformation */ - inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); } + inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); } /** \returns a writable expression of the linear part of the transformation */ - inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); } + inline LinearPart linear() { return LinearPart(m_matrix,0,0); } /** \returns a read-only expression of the Dim x HDim affine part of the transformation */ inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); } @@ -386,9 +379,9 @@ public: inline AffinePart affine() { return take_affine_part::run(m_matrix); } /** \returns a read-only expression of the translation vector of the transformation */ - inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); } + inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); } /** \returns a writable expression of the translation vector of the transformation */ - inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); } + inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); } /** \returns an expression of the product between the transform \c *this and a matrix expression \a other * @@ -460,15 +453,40 @@ public: { return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other); } - + + #ifdef __INTEL_COMPILER +private: + // this intermediate structure permits to workaround a bug in ICC 11: + // error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0> + // (const Eigen::Transform<double, 3, 2, 0> &) const" + // (the meaning of a name may have changed since the template declaration -- the type of the template is: + // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>, + // Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode, Options> &) const") + // + template<int OtherMode,int OtherOptions> struct icc_11_workaround + { + typedef internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> > ProductType; + typedef typename ProductType::ResultType ResultType; + }; + +public: + /** Concatenates two different transformations */ + template<int OtherMode,int OtherOptions> + inline typename icc_11_workaround<OtherMode,OtherOptions>::ResultType + operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const + { + typedef typename icc_11_workaround<OtherMode,OtherOptions>::ProductType ProductType; + return ProductType::run(*this,other); + } + #else /** Concatenates two different transformations */ template<int OtherMode,int OtherOptions> - inline const typename internal::transform_transform_product_impl< - Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType + inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const { return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other); } + #endif /** \sa MatrixBase::setIdentity() */ void setIdentity() { m_matrix.setIdentity(); } @@ -512,7 +530,12 @@ public: inline Transform& operator=(const UniformScaling<Scalar>& t); inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); } - inline Transform operator*(const UniformScaling<Scalar>& s) const; + inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry)> operator*(const UniformScaling<Scalar>& s) const + { + Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry),Options> res = *this; + res.scale(s.factor()); + return res; + } inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; } @@ -571,7 +594,7 @@ public: if(int(Mode)!=int(AffineCompact)) { matrix().template block<1,Dim>(Dim,0).setZero(); - matrix().coeffRef(Dim,Dim) = 1; + matrix().coeffRef(Dim,Dim) = Scalar(1); } } @@ -608,7 +631,7 @@ public: protected: #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|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS) } @@ -941,14 +964,6 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o } template<typename Scalar, int Dim, int Mode, int Options> -inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const UniformScaling<Scalar>& s) const -{ - Transform res = *this; - res.scale(s.factor()); - return res; -} - -template<typename Scalar, int Dim, int Mode, int Options> template<typename Derived> inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r) { @@ -1219,7 +1234,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 0 > { typedef typename MatrixType::PlainObject ResultType; - EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other) + static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) { return T.matrix() * other; } @@ -1237,11 +1252,11 @@ struct transform_right_product_impl< TransformType, MatrixType, 1 > typedef typename MatrixType::PlainObject ResultType; - EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other) + static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) { EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES); - typedef Block<ResultType, Dim, OtherCols> TopLeftLhs; + typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim> TopLeftLhs; ResultType res(other.rows(),other.cols()); TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other; @@ -1263,15 +1278,13 @@ struct transform_right_product_impl< TransformType, MatrixType, 2 > typedef typename MatrixType::PlainObject ResultType; - EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other) + static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) { EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES); - typedef Block<ResultType, Dim, OtherCols> TopLeftLhs; - - ResultType res(other.rows(),other.cols()); - TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.linear() * other; - TopLeftLhs(res, 0, 0, Dim, other.cols()).colwise() += T.translation(); + typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs; + ResultType res(Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(),1,other.cols())); + TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other; return res; } @@ -1422,4 +1435,6 @@ struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptio } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_TRANSFORM_H diff --git a/extern/Eigen3/Eigen/src/Geometry/Translation.h b/extern/Eigen3/Eigen/src/Geometry/Translation.h index d8fe50f987e..7fda179cc35 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Translation.h +++ b/extern/Eigen3/Eigen/src/Geometry/Translation.h @@ -3,28 +3,15 @@ // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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_TRANSLATION_H #define EIGEN_TRANSLATION_H +namespace Eigen { + /** \geometry_module \ingroup Geometry_Module * * \class Translation @@ -54,6 +41,8 @@ public: typedef Matrix<Scalar,Dim,Dim> LinearMatrixType; /** corresponding affine transformation type */ typedef Transform<Scalar,Dim,Affine> AffineTransformType; + /** corresponding isometric transformation type */ + typedef Transform<Scalar,Dim,Isometry> IsometryTransformType; protected: @@ -114,8 +103,8 @@ public: /** Concatenates a translation and a rotation */ template<typename Derived> - inline AffineTransformType operator*(const RotationBase<Derived,Dim>& r) const - { return *this * r.toRotationMatrix(); } + inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const + { return *this * IsometryTransformType(r); } /** \returns the concatenation of a linear transformation \a l with the translation \a t */ // its a nightmare to define a templated friend function outside its declaration @@ -212,4 +201,6 @@ Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const return res; } +} // end namespace Eigen + #endif // EIGEN_TRANSLATION_H diff --git a/extern/Eigen3/Eigen/src/Geometry/Umeyama.h b/extern/Eigen3/Eigen/src/Geometry/Umeyama.h index b50f461730e..ac0939cde52 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Umeyama.h +++ b/extern/Eigen3/Eigen/src/Geometry/Umeyama.h @@ -3,24 +3,9 @@ // // Copyright (C) 2009 Hauke Heibel <hauke.heibel@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/>. +// 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_UMEYAMA_H #define EIGEN_UMEYAMA_H @@ -31,6 +16,8 @@ // * Eigen/SVD // * Eigen/Array +namespace Eigen { + #ifndef EIGEN_PARSED_BY_DOXYGEN // These helpers are required since it allows to use mixed types as parameters @@ -180,4 +167,6 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo return Rt; } +} // end namespace Eigen + #endif // EIGEN_UMEYAMA_H diff --git a/extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h b/extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h index 2af32678d1c..3d8284f2d0c 100644 --- a/extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h +++ b/extern/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h @@ -4,34 +4,21 @@ // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com> // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.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_GEOMETRY_SSE_H #define EIGEN_GEOMETRY_SSE_H +namespace Eigen { + namespace internal { template<class Derived, class OtherDerived> struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned> { - inline static Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) + static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) { const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000)); Quaternion<float> res; @@ -53,7 +40,7 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned> template<typename VectorLhs,typename VectorRhs> struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true> { - inline static typename plain_matrix_type<VectorLhs>::type + static inline typename plain_matrix_type<VectorLhs>::type run(const VectorLhs& lhs, const VectorRhs& rhs) { __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0); @@ -72,7 +59,7 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true> template<class Derived, class OtherDerived> struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned> { - inline static Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) + static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b) { const Packet2d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0)); @@ -123,4 +110,6 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned> } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_GEOMETRY_SSE_H |