diff options
| -rw-r--r-- | Doxyfile | 2 | ||||
| -rw-r--r-- | Eigen/src/Core/Matrix.h | 16 | ||||
| -rw-r--r-- | Eigen/src/Geometry/AngleAxis.h | 2 | ||||
| -rw-r--r-- | Eigen/src/Geometry/OrthoMethods.h | 2 | ||||
| -rw-r--r-- | Eigen/src/Geometry/Rotation.h | 6 | ||||
| -rw-r--r-- | doc/QuickStartGuide.dox | 47 |
6 files changed, 61 insertions, 14 deletions
@@ -5,7 +5,7 @@ #--------------------------------------------------------------------------- DOXYFILE_ENCODING = UTF-8 PROJECT_NAME = Eigen -PROJECT_NUMBER = 2.0-alpha6 +PROJECT_NUMBER = 2.0-alpha7 OUTPUT_DIRECTORY = ./ CREATE_SUBDIRS = NO OUTPUT_LANGUAGE = English diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h index 74806833b..d992e279a 100644 --- a/Eigen/src/Core/Matrix.h +++ b/Eigen/src/Core/Matrix.h @@ -373,8 +373,20 @@ class Matrix : public MatrixBase<Matrix<_Scalar, _Rows, _Cols, _MaxRows, _MaxCol }; /** \defgroup matrixtypedefs Global matrix typedefs - * Eigen defines several typedef shortcuts for most common matrix types. - * Here is the explicit list. + * + * Eigen defines several typedef shortcuts for most common matrix and vector types. + * + * The general patterns are the following: + * + * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size, + * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd + * for complex double. + * + * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats. + * + * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is + * a fixed-size vector of 4 complex floats. + * * \sa class Matrix */ diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h index 563735376..733f273d7 100644 --- a/Eigen/src/Geometry/AngleAxis.h +++ b/Eigen/src/Geometry/AngleAxis.h @@ -104,7 +104,7 @@ public: operator* (const Matrix3& a, const AngleAxis& b) { return a * b.toRotationMatrix(); } - /** \Returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */ + /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */ AngleAxis inverse() const { return AngleAxis(-m_angle, m_axis); } diff --git a/Eigen/src/Geometry/OrthoMethods.h b/Eigen/src/Geometry/OrthoMethods.h index 57864afec..b826a96fb 100644 --- a/Eigen/src/Geometry/OrthoMethods.h +++ b/Eigen/src/Geometry/OrthoMethods.h @@ -93,7 +93,7 @@ struct ei_someOrthogonal_selector<Derived,2> { return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); } }; -/** \Returns an orthogonal vector of \c *this +/** \returns an orthogonal vector of \c *this * * The size of \c *this must be at least 2. If the size is exactly 2, * then the returned vector is a counter clock wise rotation of \c *this, \ie (-y,x). diff --git a/Eigen/src/Geometry/Rotation.h b/Eigen/src/Geometry/Rotation.h index f6c4fd4a1..47a10938e 100644 --- a/Eigen/src/Geometry/Rotation.h +++ b/Eigen/src/Geometry/Rotation.h @@ -138,10 +138,10 @@ public: /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */ inline Rotation2D(Scalar a) : m_angle(a) {} - /** \Returns the rotation angle */ + /** \returns the rotation angle */ inline Scalar angle() const { return m_angle; } - /** \Returns a read-write reference to the rotation angle */ + /** \returns a read-write reference to the rotation angle */ inline Scalar& angle() { return m_angle; } /** Automatic convertion to a 2D rotation matrix. @@ -149,7 +149,7 @@ public: */ inline operator Matrix2() const { return toRotationMatrix(); } - /** \Returns the inverse rotation */ + /** \returns the inverse rotation */ inline Rotation2D inverse() const { return -m_angle; } /** Concatenates two rotations */ diff --git a/doc/QuickStartGuide.dox b/doc/QuickStartGuide.dox index 6244f391e..2f1d7758b 100644 --- a/doc/QuickStartGuide.dox +++ b/doc/QuickStartGuide.dox @@ -4,17 +4,52 @@ namespace Eigen { <h1>Quick start guide</h1> -<h2>Matrix creation and initialization</h2> +<h2>Simple example with fixed-size matrices and vectors</h2> + +By fixed-size, we mean that the number of rows and columns are known at compile-time. In this case, Eigen avoids dynamic memory allocation and unroll loops. This is useful for very small sizes (typically up to 4x4). + +<table><tr><td> +\include Tutorial_simple_example_fixed_size.cpp +</td> +<td> +output: +\include Tutorial_simple_example_fixed_size.out +</td></tr></table> + +<h2>Simple example with dynamic-size matrices and vectors</h2> + +Dynamic-size means that the number of rows and columns are not known at compile-time. In this case, they are stored as runtime variables and the arrays are dynamically allocated. + +<table><tr><td> +\include Tutorial_simple_example_dynamic_size.cpp +</td> +<td> +output: +\include Tutorial_simple_example_dynamic_size.out +</td></tr></table> + +<h2>Matrix and vector types</h2> + +In Eigen, all kinds of dense matrices and vectors are represented by the template class Matrix. In most cases you can simply use one of the several convenient typedefs (\ref matrixtypedefs). + +The template class Matrix takes a number of template parameters, but for now it is enough to understand the 3 first ones (and the others can then be left unspecified): + +\code Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime> \endcode + +\li \c Scalar is the scalar type, i.e. the type of the coefficients. That is, if you want a vector of floats, choose \c float here. +\li \c RowsAtCompileTime and \c ColsAtCompileTime are the number of rows and columns of the matrix as known at compile-time. + +For example, \c Vector3d is a typedef for \code Matrix<double, 3, 1> \endcode. + +What if the matrix has dynamic-size i.e. the number of rows or cols isn't known at compile-time? Then use the special value Eigen::Dynamic. For example, \c VectorXd is a typedef for \code Matrix<double, Dynamic, 1> \endcode. + +<h2>Matrix and vector creation and initialization</h2> -In Eigen all kind of dense matrices and vectors are represented by the template class Matrix. -For instance \code Matrix<int,Dynamic,4> m(size,4);\endcode declares a matrix of 4 columns -with a dynamic number of rows. -However, in most cases you can simply use one of the several convenient typedefs (\ref matrixtypedefs). For instance \code Matrix3f m = Matrix3f::Identity(); \endcode creates a 3x3 fixed size matrix of float which is initialized to the identity matrix. Similarly \code MatrixXcd m = MatrixXcd::Zero(rows,cols); \endcode creates a rows x cols matrix of double precision complex which is initialized to zero. Here rows and cols do not have to be -known at runtime. In "MatrixXcd", "X" stands for dynamic, "c" for complex, and "d" for double. +known at compile-time. In "MatrixXcd", "X" stands for dynamic, "c" for complex, and "d" for double. You can also initialize a matrix with all coefficients equal to one: \code MatrixXi m = MatrixXi::Ones(rows,cols); \endcode |