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

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*To*: eigen@xxxxxxxxxxxxxxxxxxx*Subject*: Re: [eigen] Rigid Transformations in eigen: discussion thread*From*: Benoit Jacob <jacob.benoit.1@xxxxxxxxx>*Date*: Fri, 18 Sep 2009 08:01:05 -0400*Dkim-signature*: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=gamma; h=domainkey-signature:mime-version:received:in-reply-to:references :date:message-id:subject:from:to:content-type; bh=UTJBG198b8i905guTnfes2KOHaXHh6FeTl+YNBSngiY=; b=UVgghAyMEnS91wQYpQbvG7i2NKzZCHLSZ81UBj54JGmotrfzaiRtxVuCndZoQF8bQU rN6KSHYHDPR4wgmfFTZsL69dy0kJp6bCYkGkopD8gd7FkI4yBGC7ByZBMi377+P6GgwC /d+BEq8cXLmtrObddDZVIjJikLKAqt/Gc7lr8=*Domainkey-signature*: a=rsa-sha1; c=nofws; d=gmail.com; s=gamma; h=mime-version:in-reply-to:references:date:message-id:subject:from:to :content-type; b=HhO4HIrV4/uqMIwxhDYGyUCOwghany/atBGjw2SZm7efyylXfPD2yFKxaNOo1XqLzs 4oGy/mS1twDEyhE5TXKv4NTN4UEP5AZ6cRR/nOmriGXXKBIphn6D0VBiQqp1wedvYwsz gEJTGdYMYonk7nAbhvcu6j1YXLVhSQf+NuDkY=

2009/9/18 Gael Guennebaud <gael.guennebaud@xxxxxxxxx>: > maybe it is still worth keeping Scalar so that one can easily declare > a DualQuaternion: > > DualQuaternion<float> dq; > > For an example of this technique have a look at my auto-diff module in > unsupported/. OK > > Finally, do you think Quaternion should be implemented this way as > well ? I mean for DualQuaternion these two operators are really useful > (unlike for Quaternion where slerp is really what you should use), and > since dualquat are larger high efficiency require ET (again unlike > Quaternion). I think it's worth doing the same for Quaternion for consistency. If DualQuaternion has an operator+, then Quaternion should too. Rohit mentioned that nlerp is also wanted for Quaternion. Then there is the question of whether it should return by value or using your trick, well i think that your trick brings more benefits (e.g. mapping expressions) so once we have the DualQuaternion impl it's worth porting to Quaternion... also it's a more consistent API: if DualQuaternion can Map any xpr, so should Quaternion. Benoit

**Follow-Ups**:**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Gael Guennebaud

**References**:**[eigen] Rigid Transformations in eigen: discussion thread***From:*Rohit Garg

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Benoit Jacob

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Rohit Garg

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Benoit Jacob

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Rohit Garg

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Benoit Jacob

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Rohit Garg

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Gael Guennebaud

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Benoit Jacob

**Re: [eigen] Rigid Transformations in eigen: discussion thread***From:*Gael Guennebaud

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