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Initial fork of unsupported module EulerAngles.
This commit is contained in:
Tal Hadad
parent
d16797cfc0
commit
5e0a178df2
32
unsupported/Eigen/EulerAngles
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32
unsupported/Eigen/EulerAngles
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@ -0,0 +1,32 @@
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_EULERANGLES_MODULE_H
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#define EIGEN_EULERANGLES_MODULE_H
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "Eigen/src/Core/util/DisableStupidWarnings.h"
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/**
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* \defgroup EulerAngles_Module EulerAngles module
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*
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*
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*
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*
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*/
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#include "src/EulerAngles/EulerSystem.h"
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#include "src/EulerAngles/EulerAngles.h"
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#include "Eigen/src/Core/util/ReenableStupidWarnings.h"
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#endif // EIGEN_EULERANGLES_MODULE_H
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@ -12,3 +12,4 @@ ADD_SUBDIRECTORY(Skyline)
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ADD_SUBDIRECTORY(SparseExtra)
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ADD_SUBDIRECTORY(SparseExtra)
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ADD_SUBDIRECTORY(KroneckerProduct)
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ADD_SUBDIRECTORY(KroneckerProduct)
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ADD_SUBDIRECTORY(Splines)
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ADD_SUBDIRECTORY(Splines)
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ADD_SUBDIRECTORY(EulerAngles)
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6
unsupported/Eigen/src/EulerAngles/CMakeLists.txt
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6
unsupported/Eigen/src/EulerAngles/CMakeLists.txt
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FILE(GLOB Eigen_IterativeSolvers_SRCS "*.h")
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INSTALL(FILES
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${Eigen_IterativeSolvers_SRCS}
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DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/IterativeSolvers COMPONENT Devel
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)
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183
unsupported/Eigen/src/EulerAngles/EulerAngles.h
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183
unsupported/Eigen/src/EulerAngles/EulerAngles.h
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_EULERANGLESCLASS_H// TODO: Fix previous "EIGEN_EULERANGLES_H" definition?
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#define EIGEN_EULERANGLESCLASS_H
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namespace Eigen
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{
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/*template<typename Other,
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int OtherRows=Other::RowsAtCompileTime,
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int OtherCols=Other::ColsAtCompileTime>
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struct ei_eulerangles_assign_impl;*/
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/** \class EulerAngles
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*
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* \brief Represents a rotation in a 3 dimensional space as three Euler angles
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*
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* \param _Scalar the scalar type, i.e., the type of the angles.
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*
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* \sa cl
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*/
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template <typename _Scalar, class _System>
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class EulerAngles : public RotationBase<EulerAngles<_Scalar, _System>, 3>
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{
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public:
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/** the scalar type of the coefficients */
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typedef _Scalar Scalar;
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typedef _System System;
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Quaternion<Scalar> QuaternionType;
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typedef AngleAxis<Scalar> AngleAxisType;
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protected:
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Vector3 m_angles;
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public:
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EulerAngles() {}
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inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
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inline EulerAngles(Vector3 angles) : m_angles(angles) {}
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inline EulerAngles(const QuaternionType& q) { *this = q; }
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inline EulerAngles(const AngleAxisType& aa) { *this = aa; }
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template<typename Derived>
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inline EulerAngles(const MatrixBase<Derived>& m) { *this = m; }
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// TODO: Support assignment from euler to euler
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Scalar angle(int i) const { return m_angles.coeff(i); }
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Scalar& angle(int i) { return m_angles.coeffRef(i); }
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const Vector3& coeffs() const { return m_angles; }
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Vector3& coeffs() { return m_angles; }
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// TODO: Add set/get functions
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Scalar h() const { return m_angles[0]; }
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Scalar& h() { return m_angles[0]; }
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Scalar p() const { return m_angles[1]; }
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Scalar& p() { return m_angles[1]; }
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Scalar r() const { return m_angles[2]; }
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Scalar& r() { return m_angles[2]; }
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EulerAngles invert() const
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{
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//m_angles = -m_angles;// I want to do this but there could be an aliasing issue!
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m_angles *= -1;
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return *this;
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}
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EulerAngles inverse() const
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{
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EulerAngles res;
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res.m_angles = -m_angles;
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return res;
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}
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EulerAngles operator -() const
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{
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return inverse();
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}
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/** Constructs and \returns an equivalent 3x3 rotation matrix.
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*/
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template<typename Derived>
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// TODO: Add booleans which let the user control desired output angles range( (-PI, PI) or [0, 2*PI) )
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EulerAngles& fromRotationMatrix(const MatrixBase<Derived>& m)
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{
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System::eulerAngles(*this, m);
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return *this;
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}
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/** Set \c *this from a rotation matrix(i.e. pure orthogonal matrix with determinent of +1).
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*/
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template<typename Derived>
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EulerAngles& operator=(const MatrixBase<Derived>& mat){
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return fromRotationMatrix(mat);
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}
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// TODO: Assign and construct from another EulerAngle (with different system)
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/** Set \c *this from a quaternion.
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* The axis is normalized.
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*/
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EulerAngles& operator=(const QuaternionType& q){
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// TODO: Implement it in a better way
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// According to http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
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// we can compute only the needed matrix cells and then convert to euler angles.
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// Currently we compute all matrix cells from quaternion.
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fromRotationMatrix(q.toRotationMatrix());
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// Special case only for ZYX
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/*Scalar y2 = q.y() * q.y();
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m_angles[0] = std::atan2(2*(q.w()*q.z() + q.x()*q.y()), (1 - 2*(y2 + q.z()*q.z())));
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m_angles[1] = std::asin( 2*(q.w()*q.y() - q.z()*q.x()));
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m_angles[2] = std::atan2(2*(q.w()*q.x() + q.y()*q.z()), (1 - 2*(q.x()*q.x() + y2)));
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*/
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return *this;
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}
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/** Set \c *this from AngleAxis \a ea.
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*/
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EulerAngles& operator=(const AngleAxisType& ea)
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{
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// TODO: Implement it in a better way
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return *this = ea.toRotationMatrix();
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}
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// TODO: Fix this function, and make it generic
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Matrix3 toRotationMatrix(void) const
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{
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return static_cast<QuaternionType>(*this).toRotationMatrix();
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}
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operator QuaternionType() const
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{
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return
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AngleAxisType((System::IsHeadingOpposite ? -1 : 1) * h(), Vector3::Unit(System::HeadingAxisAbs - 1)) *
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AngleAxisType((System::IsPitchOpposite ? -1 : 1) * p(), Vector3::Unit(System::PitchAxisAbs - 1)) *
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AngleAxisType((System::IsRollOpposite ? -1 : 1) * r(), Vector3::Unit(System::RollAxisAbs - 1));
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}
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};
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typedef EulerAngles<double, EulerSystemXYZ> EulerAnglesXYZd;
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typedef EulerAngles<double, EulerSystemXYX> EulerAnglesXYXd;
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typedef EulerAngles<double, EulerSystemXZY> EulerAnglesXZYd;
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typedef EulerAngles<double, EulerSystemXZX> EulerAnglesXZXd;
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typedef EulerAngles<double, EulerSystemYZX> EulerAnglesYZXd;
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typedef EulerAngles<double, EulerSystemYZY> EulerAnglesYZYd;
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typedef EulerAngles<double, EulerSystemYXZ> EulerAnglesYXZd;
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typedef EulerAngles<double, EulerSystemYXY> EulerAnglesYXYd;
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typedef EulerAngles<double, EulerSystemZXY> EulerAnglesZXYd;
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typedef EulerAngles<double, EulerSystemZXZ> EulerAnglesZXZd;
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typedef EulerAngles<double, EulerSystemZYX> EulerAnglesZYXd;
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typedef EulerAngles<double, EulerSystemZYZ> EulerAnglesZYZd;
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namespace internal
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{
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template<typename _Scalar, class _System>
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struct traits<EulerAngles<_Scalar, _System> >
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{
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typedef _Scalar Scalar;
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};
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}
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}
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#endif // EIGEN_EULERANGLESCLASS_H
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211
unsupported/Eigen/src/EulerAngles/EulerSystem.h
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211
unsupported/Eigen/src/EulerAngles/EulerSystem.h
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@ -0,0 +1,211 @@
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_EULERSYSTEM_H
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#define EIGEN_EULERSYSTEM_H
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namespace Eigen
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{
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// Forward declerations
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template <typename _Scalar, class _System>
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class EulerAngles;
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namespace internal
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{
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// TODO: Check if already exists on the rest API
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template <int Num, bool IsPossitive = (Num > 0)>
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struct Abs
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{
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enum { value = Num };
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};
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template <int Num>
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struct Abs<Num, false>
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{
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enum { value = -Num };
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};
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template <bool Cond>
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struct NegateIf
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{
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template <typename T>
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static void run(T& t)
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{
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t = -t;
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}
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};
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template <>
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struct NegateIf<false>
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{
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template <typename T>
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static void run(T& t)
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{
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// no op
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}
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};
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template <bool Cond1, bool Cond2>
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struct NegateIfXor : NegateIf<Cond1 != Cond2> {};
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template <int Axis>
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struct IsValidAxis
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{
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enum { value = Axis != 0 && Abs<Axis>::value <= 3 };
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};
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}
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enum EulerAxis
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{
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EULER_X = 1,
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EULER_Y = 2,
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EULER_Z = 3
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};
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template <int _HeadingAxis, int _PitchAxis, int _RollAxis>
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class EulerSystem
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{
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public:
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// It's defined this way and not as enum, because I think
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// that enum is not guerantee to support negative numbers
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static const int HeadingAxis = _HeadingAxis;
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static const int PitchAxis = _PitchAxis;
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static const int RollAxis = _RollAxis;
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enum
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{
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HeadingAxisAbs = internal::Abs<HeadingAxis>::value,
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PitchAxisAbs = internal::Abs<PitchAxis>::value,
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RollAxisAbs = internal::Abs<RollAxis>::value,
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IsHeadingOpposite = (HeadingAxis < 0) ? 1 : 0,
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IsPitchOpposite = (PitchAxis < 0) ? 1 : 0,
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IsRollOpposite = (RollAxis < 0) ? 1 : 0,
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IsOdd = ((HeadingAxisAbs)%3 == (PitchAxisAbs - 1)%3) ? 0 : 1,
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IsEven = IsOdd ? 0 : 1,
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// TODO: Assert this, and sort it in a better way
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IsValid = ((unsigned)HeadingAxisAbs != (unsigned)PitchAxisAbs &&
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(unsigned)PitchAxisAbs != (unsigned)RollAxisAbs &&
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internal::IsValidAxis<HeadingAxis>::value && internal::IsValidAxis<PitchAxis>::value && internal::IsValidAxis<RollAxis>::value) ? 1 : 0,
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// TODO: After a proper assertation, remove the "IsValid" from this expression
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IsTaitBryan = (IsValid && (unsigned)HeadingAxisAbs != (unsigned)RollAxisAbs) ? 1 : 0
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};
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private:
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enum
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{
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// I, J, K are the pivot indexes permutation for the rotation matrix, that match this euler system.
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// They are used in this class converters.
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// They are always different from each other, and their possible values are: 0, 1, or 2.
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I = HeadingAxisAbs - 1,
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J = (HeadingAxisAbs - 1 + 1 + IsOdd)%3,
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K = (HeadingAxisAbs - 1 + 2 - IsOdd)%3
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};
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template <typename Derived>
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static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type isTaitBryan)
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{
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using std::atan2;
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using std::sin;
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using std::cos;
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typedef typename Derived::Scalar Scalar;
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typedef Matrix<Scalar,2,1> Vector2;
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res[0] = atan2(mat(J,K), mat(K,K));
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Scalar c2 = Vector2(mat(I,I), mat(I,J)).norm();
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if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0))) {
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res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
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res[1] = atan2(-mat(I,K), -c2);
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}
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else
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res[1] = atan2(-mat(I,K), c2);
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Scalar s1 = sin(res[0]);
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Scalar c1 = cos(res[0]);
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res[2] = atan2(s1*mat(K,I)-c1*mat(J,I), c1*mat(J,J) - s1 * mat(K,J));
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}
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template <typename Derived>
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|
static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type isTaitBryan)
|
||||||
|
{
|
||||||
|
using std::atan2;
|
||||||
|
using std::sin;
|
||||||
|
using std::cos;
|
||||||
|
|
||||||
|
typedef typename Derived::Scalar Scalar;
|
||||||
|
typedef Matrix<Scalar,2,1> Vector2;
|
||||||
|
|
||||||
|
res[0] = atan2(mat(J,I), mat(K,I));
|
||||||
|
if((IsOdd && res[0]<Scalar(0)) || ((!IsOdd) && res[0]>Scalar(0)))
|
||||||
|
{
|
||||||
|
res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
|
||||||
|
Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm();
|
||||||
|
res[1] = -atan2(s2, mat(I,I));
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
Scalar s2 = Vector2(mat(J,I), mat(K,I)).norm();
|
||||||
|
res[1] = atan2(s2, mat(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*mat(J,K)-s1*mat(K,K), c1*mat(J,J) - s1 * mat(K,J));
|
||||||
|
}
|
||||||
|
|
||||||
|
public:
|
||||||
|
|
||||||
|
// TODO: Support headingAxisVector(), ..
|
||||||
|
|
||||||
|
template<typename Scalar>
|
||||||
|
static void eulerAngles(EulerAngles<Scalar, EulerSystem>& res, const typename EulerAngles<Scalar, EulerSystem>::Matrix3& mat)
|
||||||
|
{
|
||||||
|
eulerAngles_imp(
|
||||||
|
res.coeffs(), mat,
|
||||||
|
typename internal::conditional<IsTaitBryan, internal::true_type, internal::false_type>::type());
|
||||||
|
|
||||||
|
internal::NegateIfXor<IsHeadingOpposite, IsEven>::run(res.h());
|
||||||
|
|
||||||
|
internal::NegateIfXor<IsPitchOpposite, IsEven>::run(res.p());
|
||||||
|
|
||||||
|
internal::NegateIfXor<IsRollOpposite, IsEven>::run(res.r());
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
typedef EulerSystem<EULER_X, EULER_Y, EULER_Z> EulerSystemXYZ;
|
||||||
|
typedef EulerSystem<EULER_X, EULER_Y, EULER_X> EulerSystemXYX;
|
||||||
|
typedef EulerSystem<EULER_X, EULER_Z, EULER_Y> EulerSystemXZY;
|
||||||
|
typedef EulerSystem<EULER_X, EULER_Z, EULER_X> EulerSystemXZX;
|
||||||
|
|
||||||
|
typedef EulerSystem<EULER_Y, EULER_Z, EULER_X> EulerSystemYZX;
|
||||||
|
typedef EulerSystem<EULER_Y, EULER_Z, EULER_Y> EulerSystemYZY;
|
||||||
|
typedef EulerSystem<EULER_Y, EULER_X, EULER_Z> EulerSystemYXZ;
|
||||||
|
typedef EulerSystem<EULER_Y, EULER_X, EULER_Y> EulerSystemYXY;
|
||||||
|
|
||||||
|
typedef EulerSystem<EULER_Z, EULER_X, EULER_Y> EulerSystemZXY;
|
||||||
|
typedef EulerSystem<EULER_Z, EULER_X, EULER_Z> EulerSystemZXZ;
|
||||||
|
typedef EulerSystem<EULER_Z, EULER_Y, EULER_X> EulerSystemZYX;
|
||||||
|
typedef EulerSystem<EULER_Z, EULER_Y, EULER_Z> EulerSystemZYZ;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // EIGEN_EULERSYSTEM_H
|
||||||
@ -45,6 +45,8 @@ ei_add_test(alignedvector3)
|
|||||||
|
|
||||||
ei_add_test(FFT)
|
ei_add_test(FFT)
|
||||||
|
|
||||||
|
ei_add_test(EulerAngles)
|
||||||
|
|
||||||
find_package(MPFR 2.3.0)
|
find_package(MPFR 2.3.0)
|
||||||
find_package(GMP)
|
find_package(GMP)
|
||||||
if(MPFR_FOUND)
|
if(MPFR_FOUND)
|
||||||
|
|||||||
18
unsupported/test/EulerAngles.cpp
Normal file
18
unsupported/test/EulerAngles.cpp
Normal file
@ -0,0 +1,18 @@
|
|||||||
|
// This file is part of Eigen, a lightweight C++ template library
|
||||||
|
// for linear algebra.
|
||||||
|
//
|
||||||
|
// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com>
|
||||||
|
//
|
||||||
|
// 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/.
|
||||||
|
|
||||||
|
#include "main.h"
|
||||||
|
|
||||||
|
#include <unsupported/Eigen/EulerAngles>
|
||||||
|
|
||||||
|
void test_EulerAngles()
|
||||||
|
{
|
||||||
|
//CALL_SUBTEST( test_return_by_value(32) );
|
||||||
|
|
||||||
|
}
|
||||||
Loading…
x
Reference in New Issue
Block a user