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

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> OK, before i can think more, i need to ask, what are realistic values of N here?
> Is N always known at compile time or are you talking about a runtime N as in:
I have NO idea. I haven't used it, and I don't need it right NOW, but
I don't want to shut the door on this when we know that it is used.

May be we can just put a big fat warning in the docs. Many
multiplications will anyway lead to loss of rigidity, so no
normalize()  is a bad idea. I mean, if the user does these operations,
let him deal with normalization.

> DualQuat s = 0;
> for(int i = 0; i < N; ++i) s += w[i] * Q[i];
> s.normalize();
> ?
> For the runtime N case, I think that the user must take care of the
> optimization, i don't see how we can do that.
> For compile-time-fixed N, N can't be very big, right? How big?
> Benoit

Rohit Garg

Senior Undergraduate
Department of Physics
Indian Institute of Technology

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