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

[Rohit Garg <rpg.314@xxxxxxxxx>]

> 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

http://rpg-314.blogspot.com/

Senior Undergraduate
Department of Physics
Indian Institute of Technology
Bombay