Added MatrixBase::Unit*() static function to easily create unit/basis vectors.

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.

1 files changed, 0 insertions, 157 deletions

diff --git a/Eigen/src/Geometry/EulerAngles.h b/Eigen/src/Geometry/EulerAngles.h
deleted file mode 100644
index 637744715..000000000
--- a/Eigen/src/Geometry/EulerAngles.h
+++ /dev/null
@@ -1,157 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_EULERANGLES_H
-#define EIGEN_EULERANGLES_H
-
-template<typename Other,
-         int OtherRows=Other::RowsAtCompileTime,
-         int OtherCols=Other::ColsAtCompileTime>
-struct ei_eulerangles_assign_impl;
-
-/** \class EulerAngles
-  *
-  * \brief Represents a rotation in a 3 dimensional space as three Euler angles
-  *
-  * \param _Scalar the scalar type, i.e., the type of the angles.
-  *
-  * \sa class Quaternion, class AngleAxis, class Transform
-  */
-template<typename _Scalar>
-class EulerAngles
-{
-public:
-  enum { Dim = 3 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,3,3> Matrix3;
-  typedef Matrix<Scalar,3,1> Vector3;
-  typedef Quaternion<Scalar> QuaternionType;
-  typedef AngleAxis<Scalar> AngleAxisType;
-
-protected:
-
-  Vector3 m_angles;
-
-public:
-
-  EulerAngles() {}
-  inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
-  inline EulerAngles(const QuaternionType& q) { *this = q; }
-  inline EulerAngles(const AngleAxisType& aa) { *this = aa; }
-  template<typename Derived>
-  inline EulerAngles(const MatrixBase<Derived>& m) { *this = m; }
-
-  Scalar angle(int i) const { return m_angles.coeff(i); }
-  Scalar& angle(int i) { return m_angles.coeffRef(i); }
-
-  const Vector3& coeffs() const { return m_angles; }
-  Vector3& coeffs() { return m_angles; }
-
-  EulerAngles& operator=(const QuaternionType& q);
-  EulerAngles& operator=(const AngleAxisType& ea);
-  template<typename Derived>
-  EulerAngles& operator=(const MatrixBase<Derived>& m);
-
-  template<typename Derived>
-  EulerAngles& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix3 toRotationMatrix(void) const;
-};
-
-/** Set \c *this from a quaternion.
-  * The axis is normalized.
-  */
-template<typename Scalar>
-EulerAngles<Scalar>& EulerAngles<Scalar>::operator=(const QuaternionType& q)
-{
-  Scalar y2 = q.y() * q.y();
-  m_angles.coeffRef(0) = std::atan2(2*(q.w()*q.x() + q.y()*q.z()), (1 - 2*(q.x()*q.x() + y2)));
-  m_angles.coeffRef(1) = std::asin( 2*(q.w()*q.y() - q.z()*q.x()));
-  m_angles.coeffRef(2) = std::atan2(2*(q.w()*q.z() + q.x()*q.y()), (1 - 2*(y2 + q.z()*q.z())));
-  return *this;
-}
-
-/** Set \c *this from Euler angles \a ea.
-  */
-template<typename Scalar>
-EulerAngles<Scalar>& EulerAngles<Scalar>::operator=(const AngleAxisType& aa)
-{
-  return *this = QuaternionType(aa);
-}
-
-/** Set \c *this from the expression \a xpr:
-  *   - if \a xpr is a 3x1 vector, then \a xpr is assumed to be a vector of angles
-  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
-  *     and \a xpr is converted to Euler angles
-  */
-template<typename Scalar>
-template<typename Derived>
-EulerAngles<Scalar>& EulerAngles<Scalar>::operator=(const MatrixBase<Derived>& other)
-{
-  ei_eulerangles_assign_impl<Derived>::run(*this,other.derived());
-  return *this;
-}
-
-/** Constructs and \returns an equivalent 3x3 rotation matrix.
-  */
-template<typename Scalar>
-typename EulerAngles<Scalar>::Matrix3
-EulerAngles<Scalar>::toRotationMatrix(void) const
-{
-  Vector3 c = m_angles.cwise().cos();
-  Vector3 s = m_angles.cwise().sin();
-  return Matrix3() <<
-    c.y()*c.z(),                    -c.y()*s.z(),                   s.y(),
-    c.z()*s.x()*s.y()+c.x()*s.z(),  c.x()*c.z()-s.x()*s.y()*s.z(),  -c.y()*s.x(),
-    -c.x()*c.z()*s.y()+s.x()*s.z(), c.z()*s.x()+c.x()*s.y()*s.z(),  c.x()*c.y();
-}
-
-// set from a rotation matrix
-template<typename Other>
-struct ei_eulerangles_assign_impl<Other,3,3>
-{
-  typedef typename Other::Scalar Scalar;
-  inline static void run(EulerAngles<Scalar>& ea, const Other& mat)
-  {
-    // mat =  cy*cz          -cy*sz           sy
-    //        cz*sx*sy+cx*sz  cx*cz-sx*sy*sz -cy*sx
-    //       -cx*cz*sy+sx*sz  cz*sx+cx*sy*sz  cx*cy
-    ea.angle(1) = std::asin(mat.coeff(0,2));
-    ea.angle(0) = std::atan2(-mat.coeff(1,2),mat.coeff(2,2));
-    ea.angle(2) = std::atan2(-mat.coeff(0,1),mat.coeff(0,0));
-  }
-};
-
-// set from a vector of angles
-template<typename Other>
-struct ei_eulerangles_assign_impl<Other,3,1>
-{
-  typedef typename Other::Scalar Scalar;
-  inline static void run(EulerAngles<Scalar>& ea, const Other& vec)
-  {
-    ea.coeffs() = vec;
-  }
-};
-
-#endif // EIGEN_EULERANGLES_H