aboutsummaryrefslogtreecommitdiffhomepage
diff options
context:
space:
mode:
Diffstat
-rw-r--r--CMakeLists.txt1
-rw-r--r--Eigen/Core5
-rw-r--r--Eigen/Geometry2
-rw-r--r--Eigen/src/Core/Assign.h68
-rw-r--r--Eigen/src/Geometry/AngleAxis.h6
-rw-r--r--Eigen/src/Geometry/Quaternion.h6
-rw-r--r--Eigen/src/Geometry/Rotation.h4
-rw-r--r--Eigen/src/Geometry/Transform.h10
-rw-r--r--Mainpage.dox4
-rw-r--r--doc/CMakeLists.txt9
-rw-r--r--doc/QuickStartGuide.dox79
11 files changed, 118 insertions, 76 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cc78d5a46..38a7fceab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,6 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
OPTION(BUILD_TESTS "Build tests" OFF)
-OPTION(BUILD_DOC "Build documentation and examples" OFF)
OPTION(BUILD_DEMOS "Build demos" OFF)
OPTION(BUILD_LIB "Build the binary shared library" OFF)
OPTION(BUILD_BTL "Build benchmark suite" OFF)
diff --git a/Eigen/Core b/Eigen/Core
index 9e753a517..b1b61ebc2 100644
--- a/Eigen/Core
+++ b/Eigen/Core
@@ -9,8 +9,9 @@
namespace Eigen {
/** \defgroup Core_Module Core module
- * This is the main module of Eigen providing dense matrix and vector support with
- * features equivalent to a BLAS library and much more...
+ * This is the main module of Eigen providing dense matrix and vector support
+ * (both fixed and dynamic size) with all the features corresponding to a BLAS library
+ * and much more...
*
* \code
* #include <Eigen/Core>
diff --git a/Eigen/Geometry b/Eigen/Geometry
index b5a80bd50..61b7d7038 100644
--- a/Eigen/Geometry
+++ b/Eigen/Geometry
@@ -9,7 +9,7 @@
namespace Eigen {
-/** \defgroup Geometry Geometry module
+/** \defgroup GeometryModule Geometry module
* This module provides support for:
* - fixed-size homogeneous transformations
* - 2D and 3D rotations
diff --git a/Eigen/src/Core/Assign.h b/Eigen/src/Core/Assign.h
index 7bdf312c2..758858165 100644
--- a/Eigen/src/Core/Assign.h
+++ b/Eigen/src/Core/Assign.h
@@ -299,58 +299,28 @@ struct ei_assign_impl<Derived1, Derived2, InnerVectorization, InnerUnrolling>
*** Linear vectorization ***
***************************/
-// template<typename Derived1, typename Derived2>
-// struct ei_assign_impl<Derived1, Derived2, LinearVectorization, NoUnrolling>
-// {
-// static void run(Derived1 &dst, const Derived2 &src)
-// {
-// const int size = dst.size();
-// const int packetSize = ei_packet_traits<typename Derived1::Scalar>::size;
-// const int alignedStart = ei_assign_traits<Derived1,Derived2>::DstIsAligned ? 0
-// : ei_alignmentOffset(&dst.coeffRef(0), size);
-// const int alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
-//
-// for(int index = 0; index < alignedStart; index++)
-// dst.copyCoeff(index, src);
-//
-// for(int index = alignedStart; index < alignedEnd; index += packetSize)
-// {
-// dst.template copyPacket<Derived2, Aligned, ei_assign_traits<Derived1,Derived2>::SrcAlignment>(index, src);
-// }
-//
-// for(int index = alignedEnd; index < size; index++)
-// dst.copyCoeff(index, src);
-// }
-// };
template<typename Derived1, typename Derived2>
struct ei_assign_impl<Derived1, Derived2, LinearVectorization, NoUnrolling>
{
- static void run(Derived1 &dst, const Derived2 &src)
- {
- asm("#begin");
- const int size = dst.size();
- const int packetSize = ei_packet_traits<typename Derived1::Scalar>::size;
- const int alignedStart = ei_assign_traits<Derived1,Derived2>::DstIsAligned ? 0
- : ei_alignmentOffset(&dst.coeffRef(0), size);
- const int alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
-
- asm("#unaligned start");
-
- for(int index = 0; index < alignedStart; index++)
- dst.copyCoeff(index, src);
- asm("#aligned middle");
-
- for(int index = alignedStart; index < alignedEnd; index += packetSize)
- {
- dst.template copyPacket<Derived2, Aligned, ei_assign_traits<Derived1,Derived2>::SrcAlignment>(index, src);
- }
-
- asm("#unaligned end");
-
- for(int index = alignedEnd; index < size; index++)
- dst.copyCoeff(index, src);
- asm("#end");
- }
+ static void run(Derived1 &dst, const Derived2 &src)
+ {
+ const int size = dst.size();
+ const int packetSize = ei_packet_traits<typename Derived1::Scalar>::size;
+ const int alignedStart = ei_assign_traits<Derived1,Derived2>::DstIsAligned ? 0
+ : ei_alignmentOffset(&dst.coeffRef(0), size);
+ const int alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
+
+ for(int index = 0; index < alignedStart; index++)
+ dst.copyCoeff(index, src);
+
+ for(int index = alignedStart; index < alignedEnd; index += packetSize)
+ {
+ dst.template copyPacket<Derived2, Aligned, ei_assign_traits<Derived1,Derived2>::SrcAlignment>(index, src);
+ }
+
+ for(int index = alignedEnd; index < size; index++)
+ dst.copyCoeff(index, src);
+ }
};
template<typename Derived1, typename Derived2>
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h
index 503a3d160..502cbd0ec 100644
--- a/Eigen/src/Geometry/AngleAxis.h
+++ b/Eigen/src/Geometry/AngleAxis.h
@@ -25,7 +25,7 @@
#ifndef EIGEN_ANGLEAXIS_H
#define EIGEN_ANGLEAXIS_H
-/** \geometry_module \ingroup Geometry
+/** \geometry_module \ingroup GeometryModule
*
* \class AngleAxis
*
@@ -122,10 +122,10 @@ public:
Matrix3 toRotationMatrix(void) const;
};
-/** \ingroup Geometry
+/** \ingroup GeometryModule
* single precision angle-axis type */
typedef AngleAxis<float> AngleAxisf;
-/** \ingroup Geometry
+/** \ingroup GeometryModule
* double precision angle-axis type */
typedef AngleAxis<double> AngleAxisd;
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 56cb87493..a0d32bec8 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -30,7 +30,7 @@ template<typename Other,
int OtherCols=Other::ColsAtCompileTime>
struct ei_quaternion_assign_impl;
-/** \geometry_module \ingroup Geometry
+/** \geometry_module \ingroup GeometryModule
*
* \class Quaternion
*
@@ -169,10 +169,10 @@ public:
};
-/** \ingroup Geometry
+/** \ingroup GeometryModule
* single precision quaternion type */
typedef Quaternion<float> Quaternionf;
-/** \ingroup Geometry
+/** \ingroup GeometryModule
* double precision quaternion type */
typedef Quaternion<double> Quaterniond;
diff --git a/Eigen/src/Geometry/Rotation.h b/Eigen/src/Geometry/Rotation.h
index 47a10938e..a0421b211 100644
--- a/Eigen/src/Geometry/Rotation.h
+++ b/Eigen/src/Geometry/Rotation.h
@@ -103,7 +103,7 @@ struct ToRotationMatrix<Scalar, Dim, MatrixBase<OtherDerived> >
}
};
-/** \geometry_module \ingroup Geometry
+/** \geometry_module \ingroup GeometryModule
*
* \class Rotation2D
*
@@ -114,7 +114,7 @@ struct ToRotationMatrix<Scalar, Dim, MatrixBase<OtherDerived> >
* This class is equivalent to a single scalar representing a counter clock wise rotation
* as a single angle in radian. It provides some additional features such as the automatic
* conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar
- * interface to Quaternion in order to facilitate the writing of generic algorithm
+ * interface to Quaternion in order to facilitate the writing of generic algorithms
* dealing with rotations.
*
* \sa class Quaternion, class Transform
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 4645083b3..9caaa2418 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -35,7 +35,7 @@ template< typename Other,
int OtherCols=Other::ColsAtCompileTime>
struct ei_transform_product_impl;
-/** \geometry_module \ingroup Geometry
+/** \geometry_module \ingroup GeometryModule
*
* \class Transform
*
@@ -202,13 +202,13 @@ protected:
};
-/** \ingroup Geometry */
+/** \ingroup GeometryModule */
typedef Transform<float,2> Transform2f;
-/** \ingroup Geometry */
+/** \ingroup GeometryModule */
typedef Transform<float,3> Transform3f;
-/** \ingroup Geometry */
+/** \ingroup GeometryModule */
typedef Transform<double,2> Transform2d;
-/** \ingroup Geometry */
+/** \ingroup GeometryModule */
typedef Transform<double,3> Transform3d;
#ifdef EIGEN_QT_SUPPORT
diff --git a/Mainpage.dox b/Mainpage.dox
index e4789af1d..eee01f8c4 100644
--- a/Mainpage.dox
+++ b/Mainpage.dox
@@ -7,8 +7,8 @@ In order to generate the documentation of Eigen, please follow these steps:
<li>make sure you have the required software installed: cmake, doxygen, and a C++ compiler.
<li>create a new directory, which we will call the "build directory", outside of the Eigen source directory.</li>
<li>enter the build directory</li>
- <li>configure the project: <pre>cmake -DBUILD_DOC=ON /path/to/source/directory</pre></li>
- <li>now generate the documentaion: <pre>make</pre> or, if you have two CPUs, <pre>make -j2</pre> Note that this will compile the examples, run them, and integrate their output into the documentation, which can take some time.</li>
+ <li>configure the project: <pre>cmake /path/to/source/directory</pre></li>
+ <li>now generate the documentaion: <pre>make doc</pre> or, if you have two CPUs, <pre>make doc -j2</pre> Note that this will compile the examples, run them, and integrate their output into the documentation, which can take some time.</li>
</ul>
After doing that, you will find the HTML documentation in the doc/html/ subdirectory of the build directory.
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index 4a0ff6fa5..36d65efbb 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -1,4 +1,5 @@
-IF(BUILD_DOC)
+
+SET_DIRECTORY_PROPERTIES(PROPERTIES EXCLUDE_FROM_ALL TRUE)
IF(CMAKE_COMPILER_IS_GNUCXX)
IF(CMAKE_SYSTEM_NAME MATCHES Linux)
@@ -28,7 +29,7 @@ ADD_SUBDIRECTORY(examples)
ADD_SUBDIRECTORY(snippets)
ADD_CUSTOM_TARGET(
- run_doxygen
+ doc
ALL
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/eigendoxy_tabs.css
${CMAKE_CURRENT_BINARY_DIR}/html/
@@ -39,6 +40,4 @@ ADD_CUSTOM_TARGET(
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
)
-ADD_DEPENDENCIES(run_doxygen all_snippets all_examples)
-
-ENDIF(BUILD_DOC)
+ADD_DEPENDENCIES(doc all_snippets all_examples)
diff --git a/doc/QuickStartGuide.dox b/doc/QuickStartGuide.dox
index 50abf8b4d..004156873 100644
--- a/doc/QuickStartGuide.dox
+++ b/doc/QuickStartGuide.dox
@@ -492,17 +492,88 @@ forces immediate evaluation of the transpose</td></tr>
| \ref TutorialAdvancedLinearAlgebra "Advanced linear algebra"
</div>
+In this tutorial chapter we will shortly introduce the many possibilities offered by the \ref GeometryModule "geometry module",
+namely 2D and 3D rotations and affine transformations.
+
\b Table \b of \b contents
- \ref TutorialGeoRotations
- \ref TutorialGeoTransformation
<a href="#" class="top">top</a>\section TutorialGeoRotations 2D and 3D Rotations
-todo
+\subsection TutorialGeoRotationTypes Rotation types
-<a href="#" class="top">top</a>\section TutorialGeoTransformation 2D and 3D Transformations
-todo
+<table class="tutorial_code">
+<tr><td>Rotation type</td><td>Typical initialization code</td><td>Recommended usage</td></tr>
+<tr><td>2D rotation from an angle</td><td>\code
+Rotation2D<float> rot2(angle_in_radian);\endcode</td><td></td></tr>
+<tr><td>2D rotation matrix</td><td>\code
+Matrix2f rotmat2 = Rotation2Df(angle_in_radian);\endcode</td><td></td></tr>
+<tr><td>3D rotation as an angle + axis</td><td>\code
+AngleAxis<float> aa(angle_in_radian, Vector3f(ax,ay,az));\endcode</td><td></td></tr>
+<tr><td>3D rotation as a quaternion</td><td>\code
+Quaternion<float> q = AngleAxis<float>(angle_in_radian, axis);\endcode</td><td></td></tr>
+<tr><td>3D rotation matrix</td><td>\code
+Matrix3f rotmat3 = AngleAxis<float>(angle_in_radian, axis);\endcode</td><td></td></tr>
+</table>
+
+To transform more than a single vector the prefered representations are rotation matrices,
+for other usage Rotation2D and Quaternion are the representations of choice as they are
+more compact, fast and stable. AngleAxis are only useful to create other rotation objects.
+
+\subsection TutorialGeoCommonRotationAPI Common API of rotation types
+
+To some extent, Eigen's \ref Geometry_Module "geometry module" allows you to write
+generic algorithms working on both 2D and 3D rotations of any of the five above types.
+The following operation are supported:
+<table class="tutorial_code">
+<tr><td>Convertion from and to any types (of same space dimension)</td><td>\code
+RotType2 a = RotType1();\endcode</td></tr>
+<tr><td>Concatenation of two rotations</td><td>\code
+rot3 = rot1 * rot2;\endcode</td></tr>
+<tr><td>Apply the rotation to a vector</td><td>\code
+vec2 = rot1 * vec1;\endcode</td></tr>
+<tr><td>Get the inverse rotation \n (not always the most effient choice)</td><td>\code
+rot2 = rot1.inverse();\endcode</td></tr>
+<tr><td>Spherical interpolation \n (Rotation2D and Quaternion only)</td><td>\code
+rot3 = rot1.slerp(alpha,rot2);\endcode</td></tr>
+</table>
+
+\subsection TutorialGeoEulerAngles Euler angles
+<table class="tutorial_code">
+<tr><td style="max-width:30em;">
+Euler angles might be convenient to create rotation object.
+Since there exist 24 differents convensions, they are one
+the ahand pretty confusing to use. This example shows how
+to create a rotation matrix according to the 2-1-2 convention.</td><td>\code
+Matrix3f m;
+m = AngleAxisf(angle1, Vector3f::UnitZ())
+ * AngleAxisf(angle2, Vector3f::UnitY())
+ * AngleAxisf(angle3, Vector3f::UnitZ());
+\endcode</td></tr>
+</table>
+
+<a href="#" class="top">top</a>\section TutorialGeoTransformation Affine transformations
+In Eigen we have chosen to not distinghish between points and vectors such that all points are
+actually represented by displacement vector from the origine (pt \~ pt-0). With that in mind,
+real points and vector distinguish when the rotation is applied.
+<table class="tutorial_code">
+<tr><td>Creation</td><td>\code
+Transform3f t;
+t.setFrom \endcode</td></tr>
+<tr><td>Apply the transformation to a \b point </td><td>\code
+Vector3f p1, p2;
+p2 = t * p1;\endcode</td></tr>
+<tr><td>Apply the transformation to a \b vector </td><td>\code
+Vector3f v1, v2;
+v2 = t.linear() * v1;\endcode</td></tr>
+<tr><td>Concatenate two transformations</td><td>\code
+t3 = t1 * t2;\endcode</td></tr>
+<tr><td>OpenGL compatibility</td><td>\code
+glLoadMatrixf(t.data());\endcode</td></tr>
+</table>
+
*/
@@ -519,6 +590,8 @@ todo
| \b Advanced \b linear \b algebra
</div>
+
+
\b Table \b of \b contents
- \ref TutorialAdvLinearSolvers
- \ref TutorialAdvLU
generated by cgit v1.2.3 (git 2.39.1) at 2024-05-23 02:32:07 +0000