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2aaaf22623
- "Scalar angle(int) const" should be "const Vector& angles() const" - then method "coeffs" could be removed. - avoid one letter names like h, p, r -> use alpha(), beta(), gamma() ;) - about the "fromRotation" methods: - replace the ones which are not static by operator= (as in Quaternion) - the others are actually static methods: use a capital F: FromRotation - method "invert" should be removed. - use a macro to define both float and double EulerAnglesXYZ* typedefs - AddConstIf -> not used - no needs for NegateIfXor, compilers are extremely good at optimizing away branches based on compile time constants: if(IsHeadingOpposite-=IsEven) res.alpha() = -res.alpha();
Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
For more information go to http://eigen.tuxfamily.org/.