This restores much of the performance benefit of Euler's method, without compromising accuracy (tested on 1e+7 matrices). Namely, my benchmark now runs in 1.5 s instead of 2.2 s. The same in the default branch runs in 1.08 s instead of 1.9 s, so the default branch benefits even more!
* mistake: was using the install dir instead of binary dir
* was also using INCLUDE_INSTALL_DIR before it was set, so on a first cmake run, the pkgconfig file was bad
* implement default ctor, users were relying on the compiler generater one and reported issues on the forum
* turns out that we crash on 1x1 matrices but work on Nx1. No interest in fixing that, so just guard by assert and unit test.
This is now very harmless to do as the big change (EIGEN_ALIGN preprocessor stuff and the body of ei_aligned_malloc) was already introduced in 2.0.6.
Should address Björn's issue, and also improve FreeBSD platform detection.
that eigen2 owes all its performance to nonstandard restrict keyword.
well, this can also improve portability in case some compiler doesn't have __restrict.
* EIGEN_ALIGN and EIGEN_DONT_ALIGN and the corresponding logic in Macros.h
(instead of using EIGEN_ARCH_WANTS_ALIGNMENT)
* The body of ei_aligned_malloc and ei_aligned_free
The reason for this backporting is that a user complained that with eigen 2.0 he got a warning at Memory.h:81 that the return value of posix_memalign was not used, and that function was declared with an attribute warn_unused_result.
Looking at this, it seemed that the body of this function was already overly complicated, and fixing this warning made it even worse, while the devel branch had a much simpler body and didn't suffer from that problem.
Then it was necessary to update ei_aligned_free too, and to backport EIGEN_ALIGN.
Inch' Allah....
make StdVector be a wrapper around it if EIGEN_USE_NEW_STDVECTOR is defined
otherwise StdVector doesn't change ---> compatibility is preserved
backport unit-test
Function 'Transform<Scalar,Dim>::toQMatrix(void) const' :
- 'other' was a hasty copy/paste to be replaced my m_matrix
- 'coeffRef' was incorect for const Transform
Function 'Transform<Scalar,Dim>::toQTransform(void) const' :
- return type was incorrect 'QMatrix' to be replaced by 'QTransform'
- same bigfixes as in the previous point
