Re: [eigen] Rigid Transformations in eigen: discussion thread

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> Yes. So if the user is OK to cope with having to call coeffs(), then
> he can do all what he likes, and get optimized code thanks to ET.

But for just an interpolation, you should not have to write coeffs()
everywhere. :(

Is there no other way to get ET without coeffs()?

How about the + and the * operator return vec8 expressions, and we
provide only 1 assignment operator to take vec8 expression as input?
>> The classic Grahm schmidt has a very poor numerical stability. It can
>> be modified to run in a stable manner, but there is ~2x operation
>> penalty.
> Not when the matrix was already very close to being orthogonal, as is
> the case here if you re-normalize frequently enough. In that case,
> Gram-Schmidt is fine. But that is OT, as indeed it's never as good a
> solution as quaternions.
>> Another good point. What do you think of the current unit tests?
> sorry, haven't had time to look at it carefully.
> i guess the cout's aren't there to stay, for the rest i need to read
> it carefully, have to run now...
> Benoit

Rohit Garg

Senior Undergraduate
Department of Physics
Indian Institute of Technology

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