| Re: [eigen] Rigid transformations in eigen: use of dual quaternions |
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- To: eigen@xxxxxxxxxxxxxxxxxxx
- Subject: Re: [eigen] Rigid transformations in eigen: use of dual quaternions
- From: Benoit Jacob <jacob.benoit.1@xxxxxxxxx>
- Date: Sun, 13 Sep 2009 04:58:17 -0400
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2009/9/13 Hauke Heibel <hauke.heibel@xxxxxxxxxxxxxx>:
> On Sat, Sep 12, 2009 at 8:22 PM, Benoit Jacob <jacob.benoit.1@xxxxxxxxx> wrote:
>> float data[4];
>> reinterpret_cast<Quaternionf*>(data)->slerp(....);
>
> Why can you not do this?
>
> float data[4];
> Quaternionf( Map<Vector4f>(data,4) ).slerp(...);
>
> For me the code seems to vectorize - at least the slerp() part. Even
> when the code would not be vectorizing don't you think it is a bit
> hard-core to pre-emptively optimize via a reinterpret_cast?
You can do this, but what it does is to copy the data into the new
Quaternionf's coeffs.
Rohit was trying to avoid paying for that copying.
Benoit