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* add Map<Quaternion> test based on Map from test/map.cpp
* replace implicit constructor AngleAxis(QuaternionBase&) by an explicit one, it seems ambiguous for the compiler * remove explicit constructor with conversion type quaternion(Quaternion&): conflict between constructor. * modify EIGEN_INHERIT_ASSIGNEMENT_OPERATORS to suit Quaternion class
This commit is contained in:
Mathieu Gautier
parent
d07c05b3a5
commit
6680fa42ee
@ -168,7 +168,7 @@ using Eigen::ei_cos;
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#endif
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// EIGEN_FORCE_INLINE means "inline as much as possible"
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#if (defined _MSC_VER)
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#if (defined _MSC_VER) || (defined __intel_compiler)
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#define EIGEN_STRONG_INLINE __forceinline
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#else
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#define EIGEN_STRONG_INLINE inline
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@ -261,25 +261,25 @@ using Eigen::ei_cos;
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#define EIGEN_REF_TO_TEMPORARY const &
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#endif
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#ifdef _MSC_VER
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#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
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using Base::operator =; \
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using Base::operator +=; \
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using Base::operator -=; \
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using Base::operator *=; \
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using Base::operator /=;
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#if defined(_MSC_VER) && (!defined(__INTEL_COMPILER))
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#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
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using Base::operator =;
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#else
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#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
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#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
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using Base::operator =; \
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EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
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{ \
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Base::operator=(other); \
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return *this; \
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}
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#endif
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#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
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using Base::operator +=; \
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using Base::operator -=; \
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using Base::operator *=; \
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using Base::operator /=; \
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EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
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{ \
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return Base::operator=(other); \
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}
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#endif
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EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
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#define _EIGEN_GENERIC_PUBLIC_INTERFACE(Derived, BaseClass) \
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typedef BaseClass Base; \
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@ -89,7 +89,7 @@ public:
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template<typename Derived>
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inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
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/** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
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inline AngleAxis(const QuaternionType& q) { *this = q; }
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template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
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/** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
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template<typename Derived>
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inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
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@ -116,7 +116,8 @@ public:
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AngleAxis inverse() const
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{ return AngleAxis(-m_angle, m_axis); }
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AngleAxis& operator=(const QuaternionType& q);
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template<class QuatDerived>
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AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
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template<typename Derived>
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AngleAxis& operator=(const MatrixBase<Derived>& m);
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@ -160,7 +161,8 @@ typedef AngleAxis<double> AngleAxisd;
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* The axis is normalized.
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*/
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template<typename Scalar>
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AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionType& q)
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template<typename QuatDerived>
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AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
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{
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Scalar n2 = q.vec().squaredNorm();
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if (n2 < precision<Scalar>()*precision<Scalar>())
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@ -88,7 +88,8 @@ public:
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/** \returns a vector expression of the coefficients (x,y,z,w) */
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inline typename ei_traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
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template<class OtherDerived> Derived& operator=(const QuaternionBase<OtherDerived>& other);
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EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
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template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
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// disabled this copy operator as it is giving very strange compilation errors when compiling
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// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
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@ -133,19 +134,28 @@ public:
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*/
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template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
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template<class OtherDerived> inline Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
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template<class OtherDerived> Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
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/** \returns an equivalent 3x3 rotation matrix */
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Matrix3 toRotationMatrix() const;
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/** \returns the quaternion which transform \a a into \a b through a rotation */
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template<typename Derived1, typename Derived2>
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Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
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template<class OtherDerived> inline Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
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template<class OtherDerived> inline Derived& operator*= (const QuaternionBase<OtherDerived>& q);
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template<class OtherDerived> EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
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template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
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/** \returns the quaternion describing the inverse rotation */
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Quaternion<Scalar> inverse() const;
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/** \returns the conjugated quaternion */
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Quaternion<Scalar> conjugate() const;
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/** \returns an interpolation for a constant motion between \a other and \c *this
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* \a t in [0;1]
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* see http://en.wikipedia.org/wiki/Slerp
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*/
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template<class OtherDerived> Quaternion<Scalar> slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const;
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/** \returns \c true if \c *this is approximately equal to \a other, within the precision
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@ -156,7 +166,8 @@ public:
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bool isApprox(const QuaternionBase<OtherDerived>& other, RealScalar prec = precision<Scalar>()) const
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{ return coeffs().isApprox(other.coeffs(), prec); }
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Vector3 _transformVector(Vector3 v) const;
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/** return the result vector of \a v through the rotation*/
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EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const;
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/** \returns \c *this with scalar type casted to \a NewScalarType
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*
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@ -210,11 +221,12 @@ struct ei_traits<Quaternion<_Scalar> >
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template<typename _Scalar>
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class Quaternion : public QuaternionBase<Quaternion<_Scalar> >{
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typedef QuaternionBase<Quaternion<_Scalar> > Base;
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public:
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using Base::operator=;
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public:
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typedef _Scalar Scalar;
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EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion<Scalar>)
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using Base::operator*=;
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typedef typename ei_traits<Quaternion<Scalar> >::Coefficients Coefficients;
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typedef typename Base::AngleAxisType AngleAxisType;
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@ -228,15 +240,13 @@ public:
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* while internally the coefficients are stored in the following order:
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* [\c x, \c y, \c z, \c w]
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*/
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inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z)
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{ coeffs() << x, y, z, w; }
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inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z) : m_coeffs(x, y, z, w){}
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/** Constructs and initialize a quaternion from the array data
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* This constructor is also used to map an array */
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/** Constructs and initialize a quaternion from the array data */
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inline Quaternion(const Scalar* data) : m_coeffs(data) {}
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/** Copy constructor */
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// template<class Derived> inline Quaternion(const QuaternionBase<Derived>& other) { m_coeffs = other.coeffs(); } [XXX] redundant with 703
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template<class Derived> EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
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/** Constructs and initializes a quaternion from the angle-axis \a aa */
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explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
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@ -248,11 +258,6 @@ public:
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template<typename Derived>
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explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
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/** Copy constructor with scalar type conversion */
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template<typename Derived>
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inline explicit Quaternion(const QuaternionBase<Derived>& other)
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{ m_coeffs = other.coeffs().template cast<Scalar>(); }
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inline Coefficients& coeffs() { return m_coeffs;}
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inline const Coefficients& coeffs() const { return m_coeffs;}
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@ -289,7 +294,7 @@ struct ei_traits<Map<Quaternion<_Scalar>, _PacketAccess> >:
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ei_traits<Quaternion<_Scalar> >
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{
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typedef _Scalar Scalar;
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typedef Map<Matrix<_Scalar,4,1> > Coefficients;
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typedef Map<Matrix<_Scalar,4,1>, _PacketAccess> Coefficients;
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enum {
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PacketAccess = _PacketAccess
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};
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@ -297,13 +302,22 @@ ei_traits<Quaternion<_Scalar> >
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template<typename _Scalar, int PacketAccess>
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class Map<Quaternion<_Scalar>, PacketAccess >
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: public QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> >,
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ei_no_assignment_operator
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: public QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> >
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{
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public:
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public:
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typedef _Scalar Scalar;
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typedef typename ei_traits<Map>::Coefficients Coefficients;
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typedef Map<Quaternion<Scalar>, PacketAccess > MapQuat;
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private:
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Map<Quaternion<Scalar>, PacketAccess >();
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Map<Quaternion<Scalar>, PacketAccess >(const Map<Quaternion<Scalar>, PacketAccess>&);
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typedef QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> > Base;
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public:
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EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(MapQuat)
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using Base::operator*=;
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typedef typename ei_traits<Map<Quaternion<Scalar>, PacketAccess> >::Coefficients Coefficients;
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/** Constructs a Mapped Quaternion object from the pointer \a coeffs
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*
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@ -311,7 +325,7 @@ class Map<Quaternion<_Scalar>, PacketAccess >
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* \code *coeffs == {x, y, z, w} \endcode
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*
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* If the template paramter PacketAccess is set to Aligned, then the pointer coeffs must be aligned. */
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inline Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
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EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
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inline Coefficients& coeffs() { return m_coeffs;}
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inline const Coefficients& coeffs() const { return m_coeffs;}
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@ -320,10 +334,18 @@ class Map<Quaternion<_Scalar>, PacketAccess >
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Coefficients m_coeffs;
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};
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typedef Map<Quaternion<double> > QuaternionMapd;
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typedef Map<Quaternion<float> > QuaternionMapf;
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typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
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/** \ingroup Geometry_Module
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* Map an unaligned array of single precision scalar as a quaternion */
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typedef Map<Quaternion<float>, 0> QuaternionMapf;
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/** \ingroup Geometry_Module
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* Map an unaligned array of double precision scalar as a quaternion */
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typedef Map<Quaternion<double>, 0> QuaternionMapd;
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/** \ingroup Geometry_Module
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* Map a 16-bits aligned array of double precision scalars as a quaternion */
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typedef Map<Quaternion<float>, Aligned> QuaternionMapAlignedf;
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/** \ingroup Geometry_Module
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* Map a 16-bits aligned array of double precision scalars as a quaternion */
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typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
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/***************************************************************************
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* Implementation of QuaternionBase methods
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@ -333,7 +355,7 @@ typedef Map<Quaternion<float>, Aligned> QuaternionMapAlignedf;
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// This product can be specialized for a given architecture via the Arch template argument.
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template<int Arch, class Derived1, class Derived2, typename Scalar, int PacketAccess> struct ei_quat_product
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{
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inline static Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
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EIGEN_STRONG_INLINE static Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
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return Quaternion<Scalar>
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(
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a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
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@ -347,7 +369,7 @@ template<int Arch, class Derived1, class Derived2, typename Scalar, int PacketAc
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/** \returns the concatenation of two rotations as a quaternion-quaternion product */
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template <class Derived>
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template <class OtherDerived>
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inline Quaternion<typename ei_traits<Derived>::Scalar>
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EIGEN_STRONG_INLINE Quaternion<typename ei_traits<Derived>::Scalar>
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QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
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{
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EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename OtherDerived::Scalar>::ret),
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@ -360,7 +382,7 @@ QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) c
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/** \sa operator*(Quaternion) */
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template <class Derived>
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template <class OtherDerived>
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inline Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
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EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
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{
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return (derived() = derived() * other.derived());
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}
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@ -373,7 +395,7 @@ inline Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherD
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* - Via a Matrix3: 24 + 15n
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*/
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template <class Derived>
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inline typename QuaternionBase<Derived>::Vector3
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EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
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QuaternionBase<Derived>::_transformVector(Vector3 v) const
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{
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// Note that this algorithm comes from the optimization by hand
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@ -385,9 +407,16 @@ QuaternionBase<Derived>::_transformVector(Vector3 v) const
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return v + this->w() * uv + this->vec().cross(uv);
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}
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template<class Derived>
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EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
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{
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coeffs() = other.coeffs();
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return derived();
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}
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template<class Derived>
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template<class OtherDerived>
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inline Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
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EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
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{
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coeffs() = other.coeffs();
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return derived();
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@ -396,7 +425,7 @@ inline Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDer
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/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
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*/
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template<class Derived>
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inline Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
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EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
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{
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Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
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this->w() = ei_cos(ha);
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@ -73,7 +73,7 @@ class RotationBase
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* - a vector of size Dim
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*/
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template<typename OtherDerived>
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inline typename ei_rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
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EIGEN_STRONG_INLINE typename ei_rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
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operator*(const AnyMatrixBase<OtherDerived>& e) const
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{ return ei_rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
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@ -107,7 +107,7 @@ struct ei_rotation_base_generic_product_selector<RotationDerived,OtherVectorType
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{
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enum { Dim = RotationDerived::Dim };
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typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
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inline static ReturnType run(const RotationDerived& r, const OtherVectorType& v)
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EIGEN_STRONG_INLINE static ReturnType run(const RotationDerived& r, const OtherVectorType& v)
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{
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return r._transformVector(v);
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}
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@ -2,6 +2,7 @@
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// for linear algebra.
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//
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// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
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// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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@ -84,7 +85,7 @@ template<typename Scalar> void quaternion(void)
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// angle-axis conversion
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AngleAxisx aa = q1;
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AngleAxisx aa = AngleAxisx(q1);
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VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
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@ -110,10 +111,35 @@ template<typename Scalar> void quaternion(void)
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VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);
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}
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template<typename Scalar> void mapQuaternion(void){
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typedef Map<Quaternion<Scalar>, Aligned> MQuaternionA;
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typedef Map<Quaternion<Scalar> > MQuaternionUA;
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typedef Quaternion<Scalar> Quaternionx;
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EIGEN_ALIGN16 Scalar array1[4];
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EIGEN_ALIGN16 Scalar array2[4];
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EIGEN_ALIGN16 Scalar array3[4+1];
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Scalar* array3unaligned = array3+1;
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MQuaternionA(array1).coeffs().setRandom();
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(MQuaternionA(array2)) = MQuaternionA(array1);
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(MQuaternionUA(array3unaligned)) = MQuaternionA(array1);
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Quaternionx q1 = MQuaternionA(array1);
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Quaternionx q2 = MQuaternionA(array2);
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Quaternionx q3 = MQuaternionUA(array3unaligned);
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VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs());
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VERIFY_IS_APPROX(q1.coeffs(), q3.coeffs());
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VERIFY_RAISES_ASSERT((MQuaternionA(array3unaligned)));
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}
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void test_geo_quaternion()
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{
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for(int i = 0; i < g_repeat; i++) {
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CALL_SUBTEST_1( quaternion<float>() );
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CALL_SUBTEST_2( quaternion<double>() );
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CALL_SUBTEST( mapQuaternion<float>() );
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CALL_SUBTEST( mapQuaternion<double>() );
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}
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}
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@ -81,7 +81,7 @@ template<typename Scalar, int Mode> void transformations(void)
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* (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
|
||||
|
||||
// angle-axis conversion
|
||||
AngleAxisx aa = q1;
|
||||
AngleAxisx aa = AngleAxisx(q1);
|
||||
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
|
||||
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
|
||||
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user