| Re: [eigen] Quaternion toRotationMatrix |
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This is basically what was suggested here:
http://eigen.tuxfamily.org/bz/show_bug.cgi?id=458
The thing is (as you noted) that so far Quaternions are always assumed
to be unit-quaternions, and silently introducing a division might give
unnecessary overhead for some users. Our idea (which we never finished
to decide on) was to introduce different Quaternion classes, which
assume unity, or don't. Also see this and the dependent bugs:
http://eigen.tuxfamily.org/bz/show_bug.cgi?id=560
Christoph
On 30.09.2015 17:38, Gabriel wrote:
*Hello,*
I have the following suggestions for the function *toRotationMatrix()*
for the *QuaternionBase* class:
The function is shown here:
http://pastebin.com/QPRANVU6
The documentation says that this function is undefined if a non unit
quaternion is used! This is absolutely correct!
The function so far implemented is equation 1.112 in
http://snag.gy/J6rDH.jpg ( tilde is the skew-symetric matrix of a
vector -> cross product)
If we want to use the Eigen function *toRotationMatrix*() we need to
normalize the quaternion beforehand which is expensive!
A better way is to use equation 1.110 directly in
http://snag.gy/J6rDH.jpg, which directly normalizes the quaternion but
only needs the square norm of the quaternion "s"
which is much cheaper. Equation 1.110 directly gives a proper rotation
matrix! (orthogonal, and det(R)=1)
I would provide the following adaption:
*template<bool isQuaternionNormalized = false>**
**QuaternionBase<...>::***toRotationMatrix*()*
where
*toRotationMatrix**<true>* -> same function as already implemented
(user should use this if quaternion is already normalized)
*
**toRotationMatrix**<false>* -> no normalized quaternion is given
as argument, use an implementation which uses equation 1.110 in
http://snag.gy/J6rDH.jpg
Maybe the default behavior should be "true" so there is no change to the
interface for the user who used these functions....
*BR Gabriel Nützi**
*
--
Dipl. Inf., Dipl. Math. Christoph Hertzberg
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
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