| Re: [eigen] Creating a EulerAngle object |
[ Thread Index |
Date Index
| More lists.tuxfamily.org/eigen Archives
]
- To: eigen@xxxxxxxxxxxxxxxxxxx
- Subject: Re: [eigen] Creating a EulerAngle object
- From: Gael Guennebaud <gael.guennebaud@xxxxxxxxx>
- Date: Thu, 23 Feb 2012 08:56:04 +0100
- Authentication-results: mr.google.com; spf=pass (google.com: domain of gael.guennebaud@xxxxxxxxx designates 10.50.207.99 as permitted sender) smtp.mail=gael.guennebaud@xxxxxxxxx; dkim=pass header.i=gael.guennebaud@xxxxxxxxx
- Dkim-signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=gamma; h=mime-version:in-reply-to:references:from:date:message-id:subject:to :content-type:content-transfer-encoding; bh=3Iotf6os5UmrJNbzbRevtyKPQ0ca+rti09p/mVezABk=; b=R79pj7jpIMFy9OTTK3JyB36x4hwha9EIXvGg4lQQGlEus4IHKC9VnQTRyZ4yzDUMBj stFCJMtdegTMfhfrWTbEAFnhHbg6SQbxQvcd48fjBxlnFN3xfOf0Ki/pbgNlD6mNQq2h x+D3bR5HKgVh4ol4JYbwqAjoCKgKVH6J+tnHE=
we abandoned it because we thought that was quite useless. The
AngleAxis and eulerAngle function already allow to transform from and
to Euler angles. Nevertheless, if you manage to implement an
EulerAngle class that works for arbitrary conventions then I'd say why
not.
gael
On Wed, Feb 22, 2012 at 1:40 PM, <hamelin.philippe@xxxxxxx> wrote:
>> -----Message d'origine-----
>> De : Listengine [mailto:listengine@xxxxxxxxxxxxxxxxx] De la
>> part de Gael Guennebaud
>> Envoyé : 21 février 2012 17:33
>> À : eigen@xxxxxxxxxxxxxxxxxxx
>> Objet : Re: [eigen] Creating a EulerAngle object
>>
>> On Mon, Feb 20, 2012 at 10:26 PM, Christoph Hertzberg
>> <chtz@xxxxxxxxxxxxxxxxxxxxxxxx> wrote:
>> >> 4. (Nice to have) Be able to use the EulerAngle in any
>> rotation arithmetic
>> >> (e.g. result = quaterion1 * eulerAngle * affine3d);
>> >
>> >
>> > I guess this more or less can be solved by solving 2, i.e.
>> just convert to a
>> > 3x3 matrix (or whatever) temporarily.
>> >
>> >> Looking the at the page "Extending Eigen"
>> >>
>> (http://eigen.tuxfamily.org/dox-devel/TopicCustomizingEigen.ht
> ml<http://eigen.tuxfamily.org/dox-> devel/TopicCustomizingEigen.html>
>> >> ), i'm not really sure that I want to inherit directly
>> from Matrix and then
>> >> re-implement everything. I guess the good way is to inherit from
>> >> RotationBase much the same way as the Quaternion object.
>> Am I wrong?
>> >
>> >
>> > I agree that inheriting from RotationBase is better. I
>> think beneath the
>> > scalar type you should encode the axis-order using three
>> template parameters
>> > (maybe defaulting to "the most common" convention).
>>
>> Inheriting RotationBase is indeed the best approach for that. You can
>> take inspiration from the AngleAxis class.
>>
>> Alos don't miss the eulerAngle(int,int,int) method in Eigen which
>> allows to convert a 3x3 rotation matrix to any Euler angle convention.
>> You might also have a look at the EulerAngle class we had during the
>> alpha versions of Eigen 2.0 :
>> https://bitbucket.org/eigen/eigen/src/42e749aa2451/disabled/Eu
>> lerAngles.h
>> though it is rather out of date and limited to a single convention.
>>
>
> I didn't know there already had a EulerAngles object. It really looks like the same thing that I coded yesterday :-). I also used the eulerAngles(int,int,int) method instead of using literal equations like in the alpha version. Why it didn't pass the alpha stage?
>
> If I complete the alpha version with extra parameters for specifying the convention, will it be accepted as a patch in the mainline?
>
> Philippe Hamelin
>
>