From fa891a82345f587a04d679a99794f1e240f52807 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 28 May 2019 14:38:37 +0200
Subject: [PATCH] removed eigen_template demo
---
demos/demo_eigen_template.cpp | 105 ----------------------------------
1 file changed, 105 deletions(-)
delete mode 100644 demos/demo_eigen_template.cpp
diff --git a/demos/demo_eigen_template.cpp b/demos/demo_eigen_template.cpp
deleted file mode 100644
index 47e5aa419..000000000
--- a/demos/demo_eigen_template.cpp
+++ /dev/null
@@ -1,105 +0,0 @@
-/**
- * \file test_eigen_template.cpp
- *
- * Created on: Sep 12, 2016
- * \author: jsola
- */
-
-#include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Geometry>
-#include <iostream>
-
-template <int Size, int DesiredSize>
-struct StaticSizeCheck {
- template <typename T>
- StaticSizeCheck(const T&) {
- static_assert(Size == DesiredSize, "Static sizes do not match");
- }
-};
-
-template <int DesiredSize>
-struct StaticSizeCheck<Eigen::Dynamic, DesiredSize> {
- template <typename T>
- StaticSizeCheck(const T& t) {
- assert(t == DesiredSize && "Dynamic sizes do not match");
- }
-};
-
-template <int DesiredR, int DesiredC>
-struct MatrixSizeCheck {
- template <typename T>
- static void check(const T& t) {
- StaticSizeCheck<T::RowsAtCompileTime, DesiredR>(t.rows());
- StaticSizeCheck<T::ColsAtCompileTime, DesiredC>(t.cols());
- }
-};
-
-template<typename Derived>
-inline Eigen::Quaternion<typename Derived::Scalar> v2q(const Eigen::MatrixBase<Derived>& _v){
-
- MatrixSizeCheck<3, 1>::check(_v);
-
- Eigen::Quaternion<typename Derived::Scalar> q;
- typename Derived::Scalar angle = _v.norm();
- typename Derived::Scalar angle_half = angle/2.0;
- if (angle > 1e-8)
- {
- q.w() = cos(angle_half);
- q.vec() = _v / angle * sin(angle_half);
- return q;
- }
- else
- {
- q.w() = cos(angle_half);
- q.vec() = _v * ( (typename Derived::Scalar)0.5 - angle_half*angle_half/(typename Derived::Scalar)12.0 ); // see the Taylor series of sinc(x) ~ 1 - x^2/3!, and have q.vec = v/2 * sinc(angle_half)
- return q;
- }
-}
-
-int main(void)
-{
- using namespace Eigen;
-
- VectorXd x(10);
- x << 1,2,3,4,5,6,7,8,9,10;
-
- Quaterniond q;
- Map<Quaterniond> qm(x.data()+5);
-
- // Static vector
- Vector3d v;
- v << 1,2,3;
- q = v2q(v);
- qm = v2q(v);
- std::cout << q.coeffs().transpose() << std::endl;
- std::cout << qm.coeffs().transpose() << std::endl;
-
- // Dynamic matrix
- Matrix<double, Dynamic, Dynamic> M(3,1);
- M << 1, 2, 3;
- q = v2q(M);
- std::cout << q.coeffs().transpose() << std::endl;
-
- // Dynamic vector segment
- x << 1,2,3,4,5,6,7,8,9,10;
- q = v2q(x.head(3));
- std::cout << q.coeffs().transpose() << std::endl;
-
- // Map over dynamic vector
- Map<VectorXd> m(x.data(), 3);
- q = v2q(m);
- std::cout << q.coeffs().transpose() << std::endl;
-
- // Float scalar
- Vector3f vf;
- Quaternionf qf;
- vf << 1,2,3;
- qf = v2q(vf);
- std::cout << qf.coeffs().transpose() << std::endl;
-
- // // Static assert at compile time
- // Vector2d v2;
- // q= v2q(v2);
- // std::cout << q.coeffs().transpose() << std::endl;
-
-}
--
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