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-rw-r--r--Eigen/src/Geometry/Quaternion.h87
1 files changed, 49 insertions, 38 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index c0845653d..ebc720b6c 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -31,10 +31,12 @@
* The implementation is at the end of the file
***************************************************************************/
+namespace internal {
template<typename Other,
int OtherRows=Other::RowsAtCompileTime,
int OtherCols=Other::ColsAtCompileTime>
-struct ei_quaternionbase_assign_impl;
+struct quaternionbase_assign_impl;
+}
template<class Derived>
class QuaternionBase : public RotationBase<Derived, 3>
@@ -44,9 +46,9 @@ public:
using Base::operator*;
using Base::derived;
- typedef typename ei_traits<Derived>::Scalar Scalar;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
- typedef typename ei_traits<Derived>::Coefficients Coefficients;
+ typedef typename internal::traits<Derived>::Coefficients Coefficients;
// typedef typename Matrix<Scalar,4,1> Coefficients;
/** the type of a 3D vector */
@@ -83,10 +85,10 @@ public:
inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
/** \returns a read-only vector expression of the coefficients (x,y,z,w) */
- inline const typename ei_traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
+ inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
/** \returns a vector expression of the coefficients (x,y,z,w) */
- inline typename ei_traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
+ inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
@@ -175,9 +177,9 @@ public:
* then this function smartly returns a const reference to \c *this.
*/
template<typename NewScalarType>
- inline typename ei_cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
+ inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
{
- return typename ei_cast_return_type<Derived,Quaternion<NewScalarType> >::type(
+ return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(
coeffs().template cast<NewScalarType>());
}
@@ -212,8 +214,9 @@ public:
* \sa class AngleAxis, class Transform
*/
+namespace internal {
template<typename _Scalar>
-struct ei_traits<Quaternion<_Scalar> >
+struct traits<Quaternion<_Scalar> >
{
typedef Quaternion<_Scalar> PlainObject;
typedef _Scalar Scalar;
@@ -222,6 +225,7 @@ struct ei_traits<Quaternion<_Scalar> >
PacketAccess = Aligned
};
};
+}
template<typename _Scalar>
class Quaternion : public QuaternionBase<Quaternion<_Scalar> >{
@@ -232,7 +236,7 @@ public:
EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion<Scalar>)
using Base::operator*=;
- typedef typename ei_traits<Quaternion<Scalar> >::Coefficients Coefficients;
+ typedef typename internal::traits<Quaternion<Scalar> >::Coefficients Coefficients;
typedef typename Base::AngleAxisType AngleAxisType;
/** Default constructor leaving the quaternion uninitialized. */
@@ -281,9 +285,10 @@ typedef Quaternion<double> Quaterniond;
* Specialization of Map<Quaternion<Scalar>>
***************************************************************************/
+namespace internal {
template<typename _Scalar, int _PacketAccess>
-struct ei_traits<Map<Quaternion<_Scalar>, _PacketAccess> >:
-ei_traits<Quaternion<_Scalar> >
+struct traits<Map<Quaternion<_Scalar>, _PacketAccess> >:
+traits<Quaternion<_Scalar> >
{
typedef _Scalar Scalar;
typedef Map<Matrix<_Scalar,4,1>, _PacketAccess> Coefficients;
@@ -291,6 +296,7 @@ ei_traits<Quaternion<_Scalar> >
PacketAccess = _PacketAccess
};
};
+}
/** \brief Expression of a quaternion from a memory buffer
*
@@ -310,7 +316,7 @@ class Map<Quaternion<_Scalar>, PacketAccess >
public:
typedef _Scalar Scalar;
- typedef typename ei_traits<Map>::Coefficients Coefficients;
+ typedef typename internal::traits<Map>::Coefficients Coefficients;
EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map)
using Base::operator*=;
@@ -348,7 +354,8 @@ typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
// Generic Quaternion * Quaternion product
// This product can be specialized for a given architecture via the Arch template argument.
-template<int Arch, class Derived1, class Derived2, typename Scalar, int PacketAccess> struct ei_quat_product
+namespace internal {
+template<int Arch, class Derived1, class Derived2, typename Scalar, int PacketAccess> struct quat_product
{
EIGEN_STRONG_INLINE static Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
return Quaternion<Scalar>
@@ -360,18 +367,19 @@ template<int Arch, class Derived1, class Derived2, typename Scalar, int PacketAc
);
}
};
+}
/** \returns the concatenation of two rotations as a quaternion-quaternion product */
template <class Derived>
template <class OtherDerived>
-EIGEN_STRONG_INLINE Quaternion<typename ei_traits<Derived>::Scalar>
+EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
{
- EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename OtherDerived::Scalar>::ret),
+ EIGEN_STATIC_ASSERT((internal::is_same_type<typename Derived::Scalar, typename OtherDerived::Scalar>::ret),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
- return ei_quat_product<Architecture::Target, Derived, OtherDerived,
- typename ei_traits<Derived>::Scalar,
- ei_traits<Derived>::PacketAccess && ei_traits<OtherDerived>::PacketAccess>::run(*this, other);
+ return internal::quat_product<Architecture::Target, Derived, OtherDerived,
+ typename internal::traits<Derived>::Scalar,
+ internal::traits<Derived>::PacketAccess && internal::traits<OtherDerived>::PacketAccess>::run(*this, other);
}
/** \sa operator*(Quaternion) */
@@ -425,8 +433,8 @@ template<class Derived>
EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
{
Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
- this->w() = ei_cos(ha);
- this->vec() = ei_sin(ha) * aa.axis();
+ this->w() = internal::cos(ha);
+ this->vec() = internal::sin(ha) * aa.axis();
return derived();
}
@@ -440,9 +448,9 @@ template<class Derived>
template<class MatrixDerived>
inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
{
- EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename MatrixDerived::Scalar>::ret),
+ EIGEN_STATIC_ASSERT((internal::is_same_type<typename Derived::Scalar, typename MatrixDerived::Scalar>::ret),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
- ei_quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
+ internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
return derived();
}
@@ -519,12 +527,12 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
Vector3 axis = svd.matrixV().col(2);
Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
- this->w() = ei_sqrt(w2);
- this->vec() = axis * ei_sqrt(Scalar(1) - w2);
+ this->w() = internal::sqrt(w2);
+ this->vec() = axis * internal::sqrt(Scalar(1) - w2);
return derived();
}
Vector3 axis = v0.cross(v1);
- Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
+ Scalar s = internal::sqrt((Scalar(1)+c)*Scalar(2));
Scalar invs = Scalar(1)/s;
this->vec() = axis * invs;
this->w() = s * Scalar(0.5);
@@ -539,7 +547,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
* \sa QuaternionBase::conjugate()
*/
template <class Derived>
-inline Quaternion<typename ei_traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
+inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
{
// FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite() ??
Scalar n2 = this->squaredNorm();
@@ -559,7 +567,7 @@ inline Quaternion<typename ei_traits<Derived>::Scalar> QuaternionBase<Derived>::
* \sa Quaternion2::inverse()
*/
template <class Derived>
-inline Quaternion<typename ei_traits<Derived>::Scalar>
+inline Quaternion<typename internal::traits<Derived>::Scalar>
QuaternionBase<Derived>::conjugate() const
{
return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z());
@@ -570,10 +578,10 @@ QuaternionBase<Derived>::conjugate() const
*/
template <class Derived>
template <class OtherDerived>
-inline typename ei_traits<Derived>::Scalar
+inline typename internal::traits<Derived>::Scalar
QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
{
- double d = ei_abs(this->dot(other));
+ double d = internal::abs(this->dot(other));
if (d>=1.0)
return Scalar(0);
return static_cast<Scalar>(2 * std::acos(d));
@@ -584,12 +592,12 @@ QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& oth
*/
template <class Derived>
template <class OtherDerived>
-Quaternion<typename ei_traits<Derived>::Scalar>
+Quaternion<typename internal::traits<Derived>::Scalar>
QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const
{
static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
Scalar d = this->dot(other);
- Scalar absD = ei_abs(d);
+ Scalar absD = internal::abs(d);
Scalar scale0;
Scalar scale1;
@@ -603,10 +611,10 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
{
// theta is the angle between the 2 quaternions
Scalar theta = std::acos(absD);
- Scalar sinTheta = ei_sin(theta);
+ Scalar sinTheta = internal::sin(theta);
- scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
- scale1 = ei_sin( ( t * theta) ) / sinTheta;
+ scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;
+ scale1 = internal::sin( ( t * theta) ) / sinTheta;
if (d<0)
scale1 = -scale1;
}
@@ -614,9 +622,11 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
}
+namespace internal {
+
// set from a rotation matrix
template<typename Other>
-struct ei_quaternionbase_assign_impl<Other,3,3>
+struct quaternionbase_assign_impl<Other,3,3>
{
typedef typename Other::Scalar Scalar;
typedef DenseIndex Index;
@@ -627,7 +637,7 @@ struct ei_quaternionbase_assign_impl<Other,3,3>
Scalar t = mat.trace();
if (t > Scalar(0))
{
- t = ei_sqrt(t + Scalar(1.0));
+ t = sqrt(t + Scalar(1.0));
q.w() = Scalar(0.5)*t;
t = Scalar(0.5)/t;
q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
@@ -644,7 +654,7 @@ struct ei_quaternionbase_assign_impl<Other,3,3>
DenseIndex j = (i+1)%3;
DenseIndex k = (j+1)%3;
- t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
+ t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
q.coeffs().coeffRef(i) = Scalar(0.5) * t;
t = Scalar(0.5)/t;
q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
@@ -656,7 +666,7 @@ struct ei_quaternionbase_assign_impl<Other,3,3>
// set from a vector of coefficients assumed to be a quaternion
template<typename Other>
-struct ei_quaternionbase_assign_impl<Other,4,1>
+struct quaternionbase_assign_impl<Other,4,1>
{
typedef typename Other::Scalar Scalar;
template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& vec)
@@ -665,5 +675,6 @@ struct ei_quaternionbase_assign_impl<Other,4,1>
}
};
+} // end namespace internal
#endif // EIGEN_QUATERNION_H
generated by cgit v1.2.3 (git 2.39.1) at 2024-05-23 18:07:59 +0000