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Rework of eigen features in common #660

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merged 19 commits into from
May 24, 2014
Merged

Rework of eigen features in common #660

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26d34b9
Moved computeRoots2 implementation into hpp
VictorLamoine May 15, 2014
b081539
Moved computeRoots implementation into hpp
VictorLamoine May 15, 2014
4f116ad
Moved eigen22 implementation into hpp
VictorLamoine May 15, 2014
4b6a0f1
Moved computeCorrespondingEigenVector implementation into hpp
VictorLamoine May 15, 2014
51d145d
Moved eigen33 implementation into hpp
VictorLamoine May 15, 2014
51f2c51
Moved invert2x2 implementation into hpp
VictorLamoine May 15, 2014
0739768
Moved invert3x3SymMatrix implementation into hpp
VictorLamoine May 15, 2014
f42c9a9
Moved invert3x3Matrix implementation into hpp
VictorLamoine May 15, 2014
a8a8b95
Moved determinant3x3Matrix implementation into hpp + missing document…
VictorLamoine May 15, 2014
6d06415
Templated getEulerAngles
VictorLamoine May 15, 2014
7b8abf2
Templated getTranslationAndEulerAngles
VictorLamoine May 15, 2014
3c34b39
Inlined one of the getTransformation function
VictorLamoine May 15, 2014
a1069a3
Identation corrections in the test unit
VictorLamoine May 15, 2014
b41efb8
Added inlined transformPoint
VictorLamoine May 15, 2014
0107b80
Added inlined transformVector
VictorLamoine May 15, 2014
dafd5ae
Added transformLine + test unit
VictorLamoine May 15, 2014
7f36781
Added transformPlane + test unit
VictorLamoine May 15, 2014
5bb7b0a
Added checkCoordinateSystem + test unit
VictorLamoine May 15, 2014
2ff5b6a
Added transformBetween2CoordinateSystems + test unit
VictorLamoine May 15, 2014
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Moved determinant3x3Matrix implementation into hpp + missing document… 
…ation written
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@VictorLamoine
VictorLamoine committed May 22, 2014
commit a8a8b95cb628e1a1293e6697f40fec7644b49b51
15 changes: 7 additions & 8 deletions common/include/pcl/common/eigen.h
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Expand Up @@ -163,14 +163,13 @@ namespace pcl
template <typename Matrix> typename Matrix::Scalar
invert3x3Matrix (const Matrix &matrix, Matrix &inverse);

template<typename Matrix> inline typename Matrix::Scalar
determinant3x3Matrix (const Matrix& matrix)
{
// result is independent of Row/Col Major storage!
return matrix.coeff (0) * (matrix.coeff (4) * matrix.coeff (8) - matrix.coeff (5) * matrix.coeff (7)) +
matrix.coeff (1) * (matrix.coeff (5) * matrix.coeff (6) - matrix.coeff (3) * matrix.coeff (8)) +
matrix.coeff (2) * (matrix.coeff (3) * matrix.coeff (7) - matrix.coeff (4) * matrix.coeff (6)) ;
}
/** \brief Calculate the determinant of a 3x3 matrix.
* \param[in] matrix matrix
* \return determinant of the matrix
* \ingroup common
*/
template <typename Matrix> typename Matrix::Scalar
determinant3x3Matrix (const Matrix &matrix);

/** \brief Get the unique 3D rotation that will rotate \a z_axis into (0,0,1) and \a y_direction into a vector
* with x=0 (or into (0,1,0) should \a y_direction be orthogonal to \a z_axis)
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10 changes: 10 additions & 0 deletions common/include/pcl/common/impl/eigen.hpp
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Expand Up @@ -567,6 +567,16 @@ pcl::invert3x3Matrix (const Matrix& matrix, Matrix& inverse)
return det;
}

//////////////////////////////////////////////////////////////////////////////////////////
template <typename Matrix> inline typename Matrix::Scalar
pcl::determinant3x3Matrix (const Matrix& matrix)
{
// result is independent of Row/Col Major storage!
return matrix.coeff (0) * (matrix.coeff (4) * matrix.coeff (8) - matrix.coeff (5) * matrix.coeff (7)) +
matrix.coeff (1) * (matrix.coeff (5) * matrix.coeff (6) - matrix.coeff (3) * matrix.coeff (8)) +
matrix.coeff (2) * (matrix.coeff (3) * matrix.coeff (7) - matrix.coeff (4) * matrix.coeff (6)) ;
}

//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::getTransFromUnitVectorsZY (const Eigen::Vector3f& z_axis,
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