12 Commits

Author SHA1 Message Date
Gael Guennebaud
32c5ea388e work on rotations in the Geometry module:
- convertions are done trough constructors and operator=
 - added a EulerAngles class
2008-06-21 15:01:49 +00:00
Gael Guennebaud
54238961d6 * added a pseudo expression Array giving access to:
- matrix-scalar addition/subtraction operators, e.g.:
       m.array() += 0.5;
   - matrix/matrix comparison operators, e.g.:
      if (m1.array() < m2.array()) {}
* fix compilation issues with Transform and gcc < 4.1
2008-06-20 12:38:03 +00:00
Gael Guennebaud
fb4a151982 * more cleaning in Product
* make Matrix2f (and similar) vectorized using linear path
* fix a couple of warnings and compilation issues with ICC and gcc 3.3/3.4
  (cannot get Transform compiles with gcc 3.3/3.4, see the FIXME)
2008-06-19 23:00:51 +00:00
Gael Guennebaud
82c3cea1d5 * refactoring of Product:
* use ProductReturnType<>::Type to get the correct Product xpr type
  * Product is no longer instanciated for xpr types which are evaluated
  * vectorization of "a.transpose() * b" for the normal product (small and fixed-size matrix)
  * some cleanning
* removed ArrayBase
2008-06-19 17:33:57 +00:00
Gael Guennebaud
bc0c7c57ed Added an extensible mechanism to support any kind of rotation
representation in Transform via the template static class
ToRotationMatrix.
Added a lightweight AngleAxis class (similar to Rotation2D).
2008-06-15 17:22:41 +00:00
Gael Guennebaud
0ee6b08128 * split Product to a DiagonalProduct template specialization
to optimize matrix-diag and diag-matrix products without
  making Product over complicated.
* compilation fixes in Tridiagonalization and HessenbergDecomposition
  in the case of 2x2 matrices.
* added an Orientation2D small class with similar interface than Quaternion
  (used by Transform to handle 2D and 3D orientations seamlessly)
* added a couple of features in Transform.
2008-06-15 11:54:18 +00:00
Gael Guennebaud
fbbd8afe30 Started a Transform class in the Geometry module to represent
homography.
Fix indentation in Quaternion.h
2008-06-15 08:33:44 +00:00
Gael Guennebaud
eb7b7b2cfc * remove Cross product expression: MatrixBase::cross() now returns a temporary
which is even better optimized by the compiler.
* Quaternion no longer inherits MatrixBase. Instead it stores the coefficients
  using a Matrix<> and provides only relevant methods.
2008-06-07 13:18:29 +00:00
Gael Guennebaud
915587d03d * add CommaInitializer::finished to allow the use of (Matrix3() << v0, v1, v2).finished()
as an argument of a function. Other possibilities for the name could be "end" or "matrix" ??
* various update in Quaternion, in particular I added a lot of FIXME about the API options,
  these have to be discussed and fixed.
2008-06-03 15:50:09 +00:00
Gael Guennebaud
196f38f5db improved Quaternion class:
- Euler angles and angle axis conversions,
 - stable spherical interpolation
 - documentation
 - update the respective unit test
2008-06-03 13:43:29 +00:00
Gael Guennebaud
a9cf229e15 add a geometry unit test and fix a couple of typo in Quaternion.h 2008-06-03 07:32:12 +00:00
Gael Guennebaud
366971bea4 * start of the Geometry module with a cross product and quaternion expressions
(haven't tried them yet)
* applied the meta selector rule to MatrixBase::swap()
2008-06-02 22:58:36 +00:00