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* Add Hyperplane::transform(Matrix/Transform)

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* Fix compilations with gcc 3.4, ICC and doxygen
* Fix krazy directives (hopefully)
This commit is contained in:
Gael Guennebaud 2008-08-31 13:32:29 +00:00
parent 5c34d8e20a
commit 7e8aa63bb7
20 changed files with 118 additions and 48 deletions
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4
.krazy
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@ -1 +1,3 @@
IGNORESUBS disabled,bench,build
SKIP /disabled/
SKIP /bench/
SKIP /build/

8
Eigen/src/Core/CwiseNullaryOp.h
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@ -234,7 +234,7 @@ MatrixBase<Derived>::Constant(const Scalar& value)
template<typename Derived>
bool MatrixBase<Derived>::isApproxToConstant
(const Scalar& value, typename NumTraits<Scalar>::Real prec) const
(const Scalar& value, RealScalar prec) const
{
for(int j = 0; j < cols(); j++)
for(int i = 0; i < rows(); i++)
@ -328,7 +328,7 @@ MatrixBase<Derived>::Zero()
*/
template<typename Derived>
bool MatrixBase<Derived>::isZero
(typename NumTraits<Scalar>::Real prec) const
(RealScalar prec) const
{
for(int j = 0; j < cols(); j++)
for(int i = 0; i < rows(); i++)
@ -425,7 +425,7 @@ MatrixBase<Derived>::Ones()
*/
template<typename Derived>
bool MatrixBase<Derived>::isOnes
(typename NumTraits<Scalar>::Real prec) const
(RealScalar prec) const
{
return isApproxToConstant(Scalar(1), prec);
}
@ -497,7 +497,7 @@ MatrixBase<Derived>::Identity()
*/
template<typename Derived>
bool MatrixBase<Derived>::isIdentity
(typename NumTraits<Scalar>::Real prec) const
(RealScalar prec) const
{
for(int j = 0; j < cols(); j++)
{

2
Eigen/src/Core/DiagonalMatrix.h
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@ -108,7 +108,7 @@ MatrixBase<Derived>::asDiagonal() const
*/
template<typename Derived>
bool MatrixBase<Derived>::isDiagonal
(typename NumTraits<Scalar>::Real prec) const
(RealScalar prec) const
{
if(cols() != rows()) return false;
RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);

6
Eigen/src/Core/Dot.h
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@ -177,8 +177,10 @@ struct ei_dot_impl<Derived1, Derived2, LinearVectorization, NoUnrolling>
const int size = v1.size();
const int packetSize = ei_packet_traits<Scalar>::size;
const int alignedSize = (size/packetSize)*packetSize;
const int alignment1 = (Derived1::Flags & AlignedBit) ? Aligned : Unaligned;
const int alignment2 = (Derived2::Flags & AlignedBit) ? Aligned : Unaligned;
enum {
alignment1 = (Derived1::Flags & AlignedBit) ? Aligned : Unaligned,
alignment2 = (Derived2::Flags & AlignedBit) ? Aligned : Unaligned
};
Scalar res;
// do the vectorizable part of the sum

6
Eigen/src/Core/Sum.h
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@ -195,8 +195,10 @@ struct ei_sum_impl<Derived, LinearVectorization, NoUnrolling>
|| !(Derived::Flags & DirectAccessBit)
? 0
: ei_alignmentOffset(&mat.const_cast_derived().coeffRef(0), size);
const int alignment = (Derived::Flags & DirectAccessBit) || (Derived::Flags & AlignedBit)
? Aligned : Unaligned;
enum {
alignment = (Derived::Flags & DirectAccessBit) || (Derived::Flags & AlignedBit)
? Aligned : Unaligned
};
const int alignedSize = ((size-alignedStart)/packetSize)*packetSize;
const int alignedEnd = alignedStart + alignedSize;
Scalar res;

2
Eigen/src/Core/util/Constants.h
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@ -28,7 +28,7 @@
const int Dynamic = 10000;
/** \defgroup flags
/** \defgroup flags flags
* \ingroup Core_Module
*
* These are the possible bits which can be OR'ed to constitute the flags of a matrix or

4
Eigen/src/Geometry/AngleAxis.h
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@ -60,9 +60,11 @@ template<typename _Scalar>
class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
{
typedef RotationBase<AngleAxis<_Scalar>,3> Base;
using Base::operator*;
public:
using Base::operator*;
enum { Dim = 3 };
/** the scalar type of the coefficients */
typedef _Scalar Scalar;

37
Eigen/src/Geometry/Hyperplane.h
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@ -48,7 +48,7 @@ class ParametrizedLine
ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
~ParametrizedLine() {}
@ -227,22 +227,41 @@ class Hyperplane
invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
}
}
#if 0
template<typename XprType>
inline Hyperplane operator* (const MatrixBase<XprType>& mat) const
{ return Hyperplane(mat.inverse().transpose() * normal(), offset()); }
inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = GenericAffine)
{
if (traits==GenericAffine)
normal() = mat.inverse().transpose() * normal();
else if (traits==NoShear)
normal() = (mat.colwise().norm2().cwise().inverse().eval().asDiagonal()
* mat.transpose()).transpose() * normal();
else if (traits==NoScaling)
normal() = mat * normal();
else
{
ei_assert("invalid traits value in Hyperplane::transform()");
}
return *this;
}
template<typename XprType>
inline Hyperplane& operator*= (const MatrixBase<XprType>& mat) const
{ normal() = mat.inverse().transpose() * normal(); return *this; }
#endif
inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
TransformTraits traits = GenericAffine)
{
transform(t.linear(), traits);
offset() -= t.translation().dot(normal());
return *this;
}
protected:
Coefficients m_coeffs;
};
/** Construct a parametrized line from a 2D hyperplane
*
* \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
*/
template <typename _Scalar, int _AmbientDim>
ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
{

3
Eigen/src/Geometry/Quaternion.h
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@ -61,12 +61,13 @@ template<typename _Scalar>
class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
{
typedef RotationBase<Quaternion<_Scalar>,3> Base;
using Base::operator*;
typedef Matrix<_Scalar, 4, 1> Coefficients;
Coefficients m_coeffs;
public:
using Base::operator*;
/** the scalar type of the coefficients */
typedef _Scalar Scalar;

4
Eigen/src/Geometry/Rotation2D.h
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@ -50,9 +50,11 @@ template<typename _Scalar>
class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
{
typedef RotationBase<Rotation2D<_Scalar>,2> Base;
using Base::operator*;
public:
using Base::operator*;
enum { Dim = 2 };
/** the scalar type of the coefficients */
typedef _Scalar Scalar;

5
Eigen/src/Geometry/Transform.h
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@ -539,10 +539,11 @@ Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
}
else if (traits == NoScaling) // though that's stupid let's handle it !
return linear();
else {
else
{
ei_assert("invalid traits value in Transform::inverse()");
return LinearMatrixType();
}
return LinearMatrixType();
}
/** Convenient method to set \c *this from a position, orientation and scale

2
Eigen/src/LU/Inverse.h
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@ -216,7 +216,7 @@ struct ei_compute_inverse<MatrixType, 4>
* \sa inverse()
*/
template<typename Derived>
inline void MatrixBase<Derived>::computeInverse(typename MatrixBase<Derived>::EvalType *result) const
inline void MatrixBase<Derived>::computeInverse(EvalType *result) const
{
typedef typename ei_eval<Derived>::type MatrixType;
ei_assert(rows() == cols());

40
doc/QuickStartGuide.dox
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@ -637,42 +637,50 @@ mat2x2 = t.linear();
Eigen's geometry module offer two different ways to build and update transformation objects.
<table class="tutorial_code">
<tr><td></td><td>\b procedurale \b API </td><td>\b natural \b API </td></tr>
<tr><td>Applies a translation</td><td>\code
t.translate(Vector3(tx, ty, ...));
t.pretranslate(Vector3(tx, ty, ...));
<tr><td>Translation</td><td>\code
t.translate(Vector_(tx, ty, ...));
t.pretranslate(Vector_(tx, ty, ...));
\endcode</td><td>\code
t *= Translation(tx, ty, ...);
t = Translation(tx, ty, ...) * t;
t *= Translation_(tx, ty, ...);
t2 = t1 * Translation_(vec);
t = Translation_(tx, ty, ...) * t;
\endcode</td></tr>
<tr><td>Applies a rotation \n <span class="note">In 2D, any_rotation can also be \n an angle in radian</span></td><td>\code
<tr><td>Rotation \n <span class="note">In 2D, any_rotation can also \n be an angle in radian</span></td><td>\code
t.rotate(any_rotation);
t.prerotate(any_rotation);
\endcode</td><td>\code
t *= any_rotation;
t2 = t1 * any_rotation;
t = any_rotation * t;
\endcode</td></tr>
<tr><td>Applies a scaling</td><td>\code
t.scale(Vector(sx, sy, ...));
t.scale(Vector::Constant(s));
t.prescale(Vector3f(sx, sy, ...));
<tr><td>Scaling</td><td>\code
t.scale(Vector_(sx, sy, ...));
t.scale(s);
t.prescale(Vector_(sx, sy, ...));
t.prescale(s);
\endcode</td><td>\code
t *= Scaling(sx, sy, ...);
t *= Scaling(s);
t = Scaling(sx, sy, ...) * t;
t *= Scaling_(sx, sy, ...);
t2 = t1 * Scaling_(vec);
t *= Scaling_(s);
t = Scaling_(sx, sy, ...) * t;
t = Scaling_(s) * t;
\endcode</td></tr>
<tr><td>Applies a shear transformation \n ( \b 2D \b only ! )</td><td>\code
<tr><td>Shear transformation \n ( \b 2D \b only ! )</td><td>\code
t.shear(sx,sy);
t.preshear(sx,sy);
\endcode</td><td></td></tr>
</table>
Note that in both API, any many transformations can be concatenated in a single lines as shown in the two following equivalent examples:
Note that in both API, any many transformations can be concatenated in a single expression as shown in the two following equivalent examples:
<table class="tutorial_code">
<tr><td>\code
t.pretranslate(..).rotate(..).translate(..).scale(..);
\endcode</td></tr>
<tr><td>\code
t = Translation(..) * t * RotationType(..) * Translation(..) * Scaling(..);
t = Translation_(..) * t * RotationType(..) * Translation_(..) * Scaling_(..);
\endcode</td></tr>
</table>

1
doc/cleanhierarchy.sh
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@ -2,3 +2,4 @@
sed -i 's/^.li.*MatrixBase\&lt.*gt.*a.$/ /g' $1
sed -i 's/^.li.*MapBase\&lt.*gt.*a.$/ /g' $1
sed -i 's/^.li.*RotationBase\&lt.*gt.*a.$/ /g' $1

2
doc/examples/.krazy Normal file
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@ -0,0 +1,2 @@
EXCLUDE copyright
EXCLUDE license

3
doc/snippets/.krazy
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@ -1 +1,2 @@
EXCLUDE copyright,license
EXCLUDE copyright
EXCLUDE license

2
test/geometry.cpp
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@ -284,6 +284,6 @@ void test_geometry()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST( geometry<float>() );
// CALL_SUBTEST( geometry<double>() );
CALL_SUBTEST( geometry<double>() );
}
}

30
test/hyperplane.cpp
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@ -25,6 +25,7 @@
#include "main.h"
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/QR>
template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
{
@ -36,6 +37,8 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
typedef typename HyperplaneType::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, 1> VectorType;
typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime,
HyperplaneType::AmbientDimAtCompileTime> MatrixType;
VectorType p0 = VectorType::Random(dim);
VectorType p1 = VectorType::Random(dim);
@ -45,6 +48,7 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
HyperplaneType pl0(n0, p0);
HyperplaneType pl1(n1, p1);
HyperplaneType pl2 = pl1;
Scalar s0 = ei_random<Scalar>();
Scalar s1 = ei_random<Scalar>();
@ -56,6 +60,32 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
VERIFY_IS_APPROX( pl1.signedDistance(p1 + n1 * s0), s0 );
VERIFY_IS_MUCH_SMALLER_THAN( pl1.signedDistance(pl1.projection(p0)), Scalar(1) );
VERIFY_IS_MUCH_SMALLER_THAN( pl1.absDistance(p1 + pl1.normal().unitOrthogonal() * s1), Scalar(1) );
// transform
if (!NumTraits<Scalar>::IsComplex)
{
MatrixType rot = MatrixType::Random(dim,dim).qr().matrixQ();
Scaling<Scalar,HyperplaneType::AmbientDimAtCompileTime> scaling(VectorType::Random());
Translation<Scalar,HyperplaneType::AmbientDimAtCompileTime> translation(VectorType::Random());
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot).absDistance(rot * p1), Scalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,NoScaling).absDistance(rot * p1), Scalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling, NoShear).absDistance((rot*scaling) * p1), Scalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation)
.absDistance((rot*scaling*translation) * p1), Scalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation,NoShear)
.absDistance((rot*scaling*translation) * p1), Scalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,NoScaling)
.absDistance((rot*translation) * p1), Scalar(1) );
}
}
template<typename Scalar> void lines()

2
test/main.h
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@ -54,7 +54,7 @@ namespace Eigen
static const bool should_raise_an_assert = false;
// Used to avoid to raise two exceptions at a time in which
// case the exception is not properly catched.
// case the exception is not properly caught.
// This may happen when a second exceptions is raise in a destructor.
static bool no_more_assert = false;

3
test/packetmath.cpp
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@ -100,9 +100,6 @@ template<typename Scalar> void packetmath()
ref[i] = data1[i+offset];
typedef Matrix<Scalar, PacketSize, 1> Vector;
std::cout << Vector(data1).transpose() << " | " << Vector(data1+PacketSize).transpose() << "\n";
std::cout << " " << offset << " => " << Vector(ref).transpose() << " == " << Vector(data2).transpose() << "\n";
VERIFY(areApprox(ref, data2, PacketSize) && "ei_palign");
}