* several fixes (transpose, matrix product, etc...)
* Added a basic cholesky factorization
* Added a low level hybrid dense/sparse vector class
to help writing code involving intensive read/write
in a fixed vector. It is currently used to implement
the matrix product itself as well as in the Cholesky
factorization.
However, for matrices larger than 5, it seems there is constantly a quite large error for a very
few coefficients. I don't what's going on, but that's certainely not due to numerical issues only.
(also note that the test with the pseudo eigenvectors fails the same way)
* eigenvectors => pseudoEigenvectors
* added pseudoEigenvalueMatrix
* clear the documentation
* added respective unit test
Still missing: a proper eigenvectors() function.
based on the former.
* opengl_demo: makes IcoSphere better (vertices are instanciated only once) and
removed the generation of a big geometry for the fancy spheres...
- quaternion vs euler angles interpolation (though the Euler angle version looks a bit too bad)
- navigation using either a mapping from 2D screen coordinates to 3D points on a sphere
or the standard approach mapping mouse displacements as rotations around camera's axes.
* add a WithAlignedOperatorNew class with overloaded operator new
* make Matrix (and Quaternion, Transform, Hyperplane, etc.) use it
if needed such that "*(new Vector4) = xpr" does not failed anymore.
* Please: make sure your classes having fixed size Eigen's vector
or matrice attributes inherit WithAlignedOperatorNew
* add a ei_new_allocator STL memory allocator to use with STL containers.
This allocator really calls operator new on your types (unlike GCC's
new_allocator). Example:
std::vector<Vector4f> data(10);
will segfault if the vectorization is enabled, instead use:
std::vector<Vector4f,ei_new_allocator<Vector4f> > data(10);
NOTE: you only have to worry if you deal with fixed-size matrix types
with "sizeof(matrix_type)%16==0"...
few bits left of the comma and for floating-point types will never return zero.
This replaces the custom functions in test/main.h, so one does not anymore need
to think about that when writing tests.
This allow code factorization and generic template specialization
of functions
* added any_rotation * {Translation,Scaling,Transform} products methods
* rewrite of the actually broken ToRoationMatrix helper class to
a global ei_toRotationMatrix function.
NonAffine, Affine (default), contains NoShear, contains NoScaling
that allows significant speed improvements. If you like it, this concept could be applied to
Transform::extractRotation (or to a more advanced decomposition function) and to Hyperplane::transformed()
and maybe to some other places... e.g., I think a Transform::normalMatrix() function would not harm and
warn user that the transformation of normals is not that trivial (I saw this mistake much too often)
