AngleAxis*Vector products were wrong because they returned the product
_expression_
toRotationMatrix()*other;
and toRotationMatrix() died before that expression would be later
evaluated. Here it would not have been practical to NestByValue as this
is a whole matrix. So, let them simply evaluate and return the result by
value.
The geometry.cpp unit-test only checked for compatibility between
various rotations, it didn't check the correctness of the rotations
themselves. That's why this bug escaped us. So, this commit checks that
the rotations produced by AngleAxis have all the expected properties.
Since the compatibility with the other rotations is already checked,
this should validate them as well.
* added a meta.cpp unit test
* EIGEN_TUNE_FOR_L2_CACHE_SIZE now represents L2 block size in Bytes (whence the ei_meta_sqrt...)
* added a CustomizeEigen.dox page
* added a TOC to QuickStartGuide.dox
* replaced the Flags template parameter of Matrix by StorageOrder
and move it back to the 4th position such that we don't have to
worry about the two Max* template parameters
* extended EIGEN_USING_MATRIX_TYPEDEFS with the ei_* math functions
* bugfix in Dot unroller
* added special random generator for the unit tests and reduced the tolerance threshold by an order of magnitude
this fixes issues with sum.cpp but other tests still failed sometimes, this have to be carefully checked...
IoFormat OctaveFmt(4, AlignCols, ", ", ";\n", "", "", "[", "]");
cout << mat.format(OctaveFmt);
The first "4" is the precision.
Documentation missing.
* Some compilation fixes
- the decompostion code has been adfapted from JAMA
- handles non square matrices of size MxN with M>=N
- does not work for complex matrices
- includes a solver where the parts corresponding to zero singular values are set to zero
I don't see any reason not to allow it, it doesn't add much code, and
it makes porting from eigen1 easier.
*expand tests/basicstuff to first test coefficient access methods
* fix .normalized() so that Random().normalized() works; since the return
type became complicated to write down i just let it return an actual
vector, perhaps not optimal.
* add Sparse/CMakeLists.txt. I suppose that it was intentional that it
didn't have CMakeLists, but in <=2.0 releases I'll just manually remove
Sparse.
*in test/CMakeLists : modify EI_ADD_TEST so that 2nd argument is
additional compiler flags. used to add -O2 to test_product_large so it
doesn't take forever.
pivoting for better numerical stability. For now the only application is
determinant.
* New determinant unit-test.
* Disable most of Swap.h for now as it makes LU fail (mysterious).
Anyway Swap needs a big overhaul as proposed on IRC.
* Remnants of old class Inverse removed.
* Some warnings fixed.
* faster matrix-matrix and matrix-vector products (especially for not aligned cases)
* faster tridiagonalization (make it using our matrix-vector impl.)
Others:
* fix Flags of Map
* split the test_product to two smaller ones
=> up to 6 times faster !
* Added DirectAccessBit to Part
* Added an exemple of a cwise operator
* Renamed perpendicular() => someOrthogonal() (geometry module)
* Fix a weired bug in ei_constant_functor: the default copy constructor did not copy
the imaginary part when the single member of the class is a complex...
Renamed "MatrixBase::extract() const" to "MatrixBase::part() const"
* Renamed static functions identity, zero, ones, random with an upper case
first letter: Identity, Zero, Ones and Random.
Removed EulerAngles, addes typdefs for Quaternion and AngleAxis,
and added automatic conversions from Quaternion/AngleAxis to Matrix3 such that:
Matrix3f m = AngleAxisf(0.2,Vector3f::UnitX) * AngleAxisf(0.2,Vector3f::UnitY);
just works.
* Improve the efficiency of matrix*vector in unaligned cases
* Trivial fixes in the destructors of MatrixStorage
* Removed the matrixNorm in test/product.cpp (twice faster and
that assumed the matrix product was ok while checking that !!)
- remove all invertibility checking, will be redundant with LU
- general case: adapt to matrix storage order for better perf
- size 4 case: handle corner cases without falling back to gen case.
- rationalize with selectors instead of compile time if
- add C-style computeInverse()
* update inverse test.
* in snippets, default cout precision to 3 decimal places
* add some cmake module from kdelibs to support btl with cmake 2.4
and vector * row-major products. Currently, it is enabled only is the matrix
has DirectAccessBit flag and the product is "large enough".
Added the respective unit tests in test/product/cpp.
* added complete implementation of sparse matrix product
(with a little glue in Eigen/Core)
* added an exhaustive bench of sparse products including GMM++ and MTL4
=> Eigen outperforms in all transposed/density configurations !
* rework PacketMath and DummyPacketMath, make these actual template
specializations instead of just overriding by non-template inline
functions
* introduce ei_ploadt and ei_pstoret, make use of them in Map and Matrix
* remove Matrix::map() methods, use Map constructors instead.
* make the conj functor vectorizable: it is just identity in real case,
and complex doesn't use the vectorized path anyway.
* fix bug in Block: a 3x1 block in a 4x4 matrix (all fixed-size)
should not be vectorizable, since in fixed-size we are assuming
the size to be a multiple of packet size. (Or would you prefer
Vector3d to be flagged "packetaccess" even though no packet access
is possible on vectors of that type?)
* rename:
isOrtho for vectors ---> isOrthogonal
isOrtho for matrices ---> isUnitary
* add normalize()
* reimplement normalized with quotient1 functor
packet access, it is not certain that it will bring a performance
improvement: benchmarking needed.
* improve logic choosing slice vectorization.
* fix typo in SSE packet math, causing crash in unaligned case.
* fix bug in Product, causing crash in unaligned case.
* add TEST_SSE3 CMake option.
