geometry.cpp File Reference

#include <iostream>
#include <Eigen/Geometry>
#include <bench/BenchTimer.h>

Classes
struct	ToRotationMatrixWrapper< T >
struct	get_dim< T >
struct	get_dim< Matrix< S, R, C, O, MR, MC > >
struct	bench_impl< Transformation, N >
struct	bench_impl< Transformation, 0 >

Macros
#define	SCALAR   float
#define	SIZE   8

Typedefs
typedef SCALAR	Scalar
typedef NumTraits< Scalar >::Real	RealScalar
typedef Matrix< RealScalar, Dynamic, Dynamic >	A
typedef Matrix< Scalar, Dynamic, Dynamic >	B
typedef Matrix< Scalar, Dynamic, Dynamic >	C
typedef Matrix< RealScalar, Dynamic, Dynamic >	M

Functions
template<typename Transformation , typename Data >
EIGEN_DONT_INLINE void	transform (const Transformation &t, Data &data)
template<typename Scalar , typename Data >
EIGEN_DONT_INLINE void	transform (const Quaternion< Scalar > &t, Data &data)
template<typename QType , typename Data >
EIGEN_DONT_INLINE void	transform (const ToRotationMatrixWrapper< QType > &t, Data &data)
template<typename Scalar , int Dim, typename Data >
EIGEN_DONT_INLINE void	transform (const Transform< Scalar, Dim, Projective > &t, Data &data)
template<typename Transformation >
EIGEN_DONT_INLINE void	bench (const std::string &msg, const Transformation &t)
int	main (int argc, char **argv)

Macro Definition Documentation

SCALAR

#define SCALAR   float

SIZE

#define SIZE   8

Typedef Documentation

A

typedef Matrix<RealScalar, Dynamic, Dynamic> A

B

typedef Matrix< Scalar, Dynamic, Dynamic> B

C

typedef Matrix<Scalar, Dynamic, Dynamic> C

M

typedef Matrix<RealScalar, Dynamic, Dynamic> M

RealScalar

typedef NumTraits<Scalar>::Real RealScalar

Scalar

typedef SCALAR Scalar

Function Documentation

bench()

template<typename Transformation >

EIGEN_DONT_INLINE void bench	(	const std::string &	msg,
		const Transformation &	t
	)

                                                                            {
  cout << msg << " ";
  bench_impl<Transformation, SIZE>::run(t);
  std::cout << "\n";
}

References bench_impl< Transformation, N >::run(), and plotPSD::t.

Referenced by main().

main()

int main	(	int argc	,
		char **	argv
	)

                                {
  Matrix<Scalar, 3, 4> mat34;
  mat34.setRandom();
  Transform<Scalar, 3, Isometry> iso3(mat34);
  Transform<Scalar, 3, Affine> aff3(mat34);
  Transform<Scalar, 3, AffineCompact> caff3(mat34);
  Transform<Scalar, 3, Projective> proj3(mat34);
  Quaternion<Scalar> quat;
  quat.setIdentity();
  ToRotationMatrixWrapper<Quaternion<Scalar> > quatmat(quat);
  Matrix<Scalar, 3, 3> mat33;
  mat33.setRandom();
 
  cout.precision(4);
  std::cout << "N          ";
  for (int i = 0; i < SIZE; ++i) {
    cout.width(9);
    cout << i + 1 << " ";
  }
  cout << "\n";
 
  bench("matrix 3x3", mat33);
  bench("quaternion", quat);
  bench("quat-mat  ", quatmat);
  bench("isometry3 ", iso3);
  bench("affine3   ", aff3);
  bench("c affine3 ", caff3);
  bench("proj3     ", proj3);
}

References bench(), i, Eigen::QuaternionBase< Derived >::setIdentity(), Eigen::PlainObjectBase< Derived >::setRandom(), and SIZE.

transform() [1/4]

template<typename Scalar , typename Data >

EIGEN_DONT_INLINE void transform	(	const Quaternion< Scalar > &	t,
		Data &	data
	)

                                                                          {
  EIGEN_ASM_COMMENT("begin quat");
  for (int i = 0; i < data.cols(); ++i) data.col(i) = t * data.col(i);
  EIGEN_ASM_COMMENT("end quat");
}

References data, EIGEN_ASM_COMMENT, i, and plotPSD::t.

transform() [2/4]

template<typename QType , typename Data >

EIGEN_DONT_INLINE void transform	(	const ToRotationMatrixWrapper< QType > &	t,
		Data &	data
	)

                                                                                      {
  EIGEN_ASM_COMMENT("begin quat via mat");
  data = t.object.toRotationMatrix() * data;
  EIGEN_ASM_COMMENT("end quat via mat");
}

References data, EIGEN_ASM_COMMENT, and plotPSD::t.

transform() [3/4]

template<typename Scalar , int Dim, typename Data >

EIGEN_DONT_INLINE void transform	(	const Transform< Scalar, Dim, Projective > &	t,
		Data &	data
	)

                                                                                          {
  data = (t * data.colwise().homogeneous()).template block<Dim, Data::ColsAtCompileTime>(0, 0);
}

References data, and plotPSD::t.

transform() [4/4]

template<typename Transformation , typename Data >

EIGEN_DONT_INLINE void transform	(	const Transformation &	t,
		Data &	data
	)

                                                                      {
  EIGEN_ASM_COMMENT("begin");
  data = t * data;
  EIGEN_ASM_COMMENT("end");
}

References data, EIGEN_ASM_COMMENT, and plotPSD::t.

Referenced by addObject(), helpers::lower(), SmallMatrix< numberOfRows, numberOfColumns >::operator*(), SmallVector< numberOfRows >::operator*(), SmallVector< numberOfRows >::operator*=(), SmallMatrix< numberOfRows, numberOfColumns >::operator*=(), SmallMatrix< numberOfRows, numberOfColumns >::operator+(), SmallVector< numberOfRows >::operator+(), SmallMatrix< numberOfRows, numberOfColumns >::operator+=(), SmallVector< numberOfRows >::operator+=(), SmallMatrix< numberOfRows, numberOfColumns >::operator-(), SmallVector< numberOfRows >::operator-(), SmallMatrix< numberOfRows, numberOfColumns >::operator-=(), SmallVector< numberOfRows >::operator-=(), SmallVector< numberOfRows >::operator/(), SmallMatrix< numberOfRows, numberOfColumns >::operator/(), SmallVector< numberOfRows >::operator/=(), SmallMatrix< numberOfRows, numberOfColumns >::operator/=(), Eigen::internal::permutation_matrix_product< ExpressionType, Side, Transposed, SparseShape >::permute_inner(), bench_impl< Transformation, N >::run(), Eigen::internal::transform_construct_from_matrix< Other, AffineCompact, Options, Dim, HDim, HDim, HDim >::run(), Eigen::internal::transform_construct_from_matrix< Other, Mode, Options, Dim, HDim, Dim, Dim >::run(), Eigen::internal::transform_construct_from_matrix< Other, Mode, Options, Dim, HDim, Dim, HDim >::run(), Eigen::internal::transform_construct_from_matrix< Other, Mode, Options, Dim, HDim, HDim, HDim >::run(), and BasicUnionOfWalls::writeVTK().