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Rename someOrthogonal to unitOrthogonal. Fix a bug in it, with dyn-size vectors of size <=3.

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Update doc and test to reflect that it always returns a unit vector.
This commit is contained in:
Benoit Jacob 2008-08-24 17:31:03 +00:00
parent aeca7a63f4
commit 251ecc0ab9
3 changed files with 21 additions and 14 deletions
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2
Eigen/src/Core/MatrixBase.h
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@ -567,7 +567,7 @@ template<typename Derived> class MatrixBase
template<typename OtherDerived> template<typename OtherDerived>
EvalType cross(const MatrixBase<OtherDerived>& other) const; EvalType cross(const MatrixBase<OtherDerived>& other) const;
EvalType someOrthogonal(void) const; EvalType unitOrthogonal(void) const;
#ifdef EIGEN_MATRIXBASE_PLUGIN #ifdef EIGEN_MATRIXBASE_PLUGIN
#include EIGEN_MATRIXBASE_PLUGIN #include EIGEN_MATRIXBASE_PLUGIN

24
Eigen/src/Geometry/OrthoMethods.h
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@ -47,7 +47,7 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
} }
template<typename Derived, int Size = Derived::SizeAtCompileTime> template<typename Derived, int Size = Derived::SizeAtCompileTime>
struct ei_someOrthogonal_selector struct ei_unitOrthogonal_selector
{ {
typedef typename ei_eval<Derived>::type VectorType; typedef typename ei_eval<Derived>::type VectorType;
typedef typename ei_traits<Derived>::Scalar Scalar; typedef typename ei_traits<Derived>::Scalar Scalar;
@ -66,7 +66,9 @@ struct ei_someOrthogonal_selector
|| (!ei_isMuchSmallerThan(src.y(), src.z()))) || (!ei_isMuchSmallerThan(src.y(), src.z())))
{ {
RealScalar invnm = Scalar(1)/src.template start<2>().norm(); RealScalar invnm = Scalar(1)/src.template start<2>().norm();
perp.template start<3>() << -ei_conj(src.y())*invnm, ei_conj(src.x())*invnm, 0; 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 /* 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. * to the z-axis, so it's far from colinear to the x-axis for instance.
@ -75,10 +77,12 @@ struct ei_someOrthogonal_selector
else else
{ {
RealScalar invnm = Scalar(1)/src.template end<2>().norm(); RealScalar invnm = Scalar(1)/src.template end<2>().norm();
perp.template start<3>() << 0, -ei_conj(src.z())*invnm, ei_conj(src.y())*invnm; perp.coeffRef(0) = 0;
perp.coeffRef(1) = -ei_conj(src.z())*invnm;
perp.coeffRef(2) = ei_conj(src.y())*invnm;
} }
if (Derived::SizeAtCompileTime>3 if( (Derived::SizeAtCompileTime!=Dynamic && Derived::SizeAtCompileTime>3)
|| (Derived::SizeAtCompileTime==Dynamic && src.size()>3)) || (Derived::SizeAtCompileTime==Dynamic && src.size()>3) )
perp.end(src.size()-3).setZero(); perp.end(src.size()-3).setZero();
return perp; return perp;
@ -86,26 +90,26 @@ struct ei_someOrthogonal_selector
}; };
template<typename Derived> template<typename Derived>
struct ei_someOrthogonal_selector<Derived,2> struct ei_unitOrthogonal_selector<Derived,2>
{ {
typedef typename ei_eval<Derived>::type VectorType; typedef typename ei_eval<Derived>::type VectorType;
inline static VectorType run(const Derived& src) inline static VectorType run(const Derived& src)
{ return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); } { return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); }
}; };
/** \returns an orthogonal vector of \c *this /** \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, * 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). * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
* *
* \sa cross() * \sa cross()
*/ */
template<typename Derived> template<typename Derived>
typename MatrixBase<Derived>::EvalType typename MatrixBase<Derived>::EvalType
MatrixBase<Derived>::someOrthogonal() const MatrixBase<Derived>::unitOrthogonal() const
{ {
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived); EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
return ei_someOrthogonal_selector<Derived>::run(derived()); return ei_unitOrthogonal_selector<Derived>::run(derived());
} }
#endif // EIGEN_ORTHOMETHODS_H #endif // EIGEN_ORTHOMETHODS_H

9
test/geometry.cpp
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@ -58,9 +58,12 @@ template<typename Scalar> void geometry(void)
(v0.cross(v1).cross(v0)).normalized(); (v0.cross(v1).cross(v0)).normalized();
VERIFY(m.isUnitary()); VERIFY(m.isUnitary());
// someOrthogonal // unitOrthogonal
VERIFY_IS_MUCH_SMALLER_THAN(u0.someOrthogonal().dot(u0), Scalar(1)); VERIFY_IS_MUCH_SMALLER_THAN(u0.unitOrthogonal().dot(u0), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v0.someOrthogonal().dot(v0), Scalar(1)); VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1));
VERIFY_IS_APPROX(u0.unitOrthogonal().norm(), Scalar(1));
VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), Scalar(1));
q1 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v0.normalized()); q1 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v0.normalized());
q2 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized()); q2 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized());