Program Listing for File tools.h
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#ifndef HPP_FCL_INTERNAL_TOOLS_H
#define HPP_FCL_INTERNAL_TOOLS_H
#include <hpp/fcl/fwd.hh>
#include <cmath>
#include <iostream>
#include <limits>
#include <hpp/fcl/data_types.h>
namespace hpp {
namespace fcl {
template <typename Derived>
static inline typename Derived::Scalar triple(
const Eigen::MatrixBase<Derived>& x, const Eigen::MatrixBase<Derived>& y,
const Eigen::MatrixBase<Derived>& z) {
return x.derived().dot(y.derived().cross(z.derived()));
}
template <typename Derived1, typename Derived2, typename Derived3>
void generateCoordinateSystem(const Eigen::MatrixBase<Derived1>& _w,
const Eigen::MatrixBase<Derived2>& _u,
const Eigen::MatrixBase<Derived3>& _v) {
typedef typename Derived1::Scalar T;
Eigen::MatrixBase<Derived1>& w = const_cast<Eigen::MatrixBase<Derived1>&>(_w);
Eigen::MatrixBase<Derived2>& u = const_cast<Eigen::MatrixBase<Derived2>&>(_u);
Eigen::MatrixBase<Derived3>& v = const_cast<Eigen::MatrixBase<Derived3>&>(_v);
T inv_length;
if (std::abs(w[0]) >= std::abs(w[1])) {
inv_length = (T)1.0 / sqrt(w[0] * w[0] + w[2] * w[2]);
u[0] = -w[2] * inv_length;
u[1] = (T)0;
u[2] = w[0] * inv_length;
v[0] = w[1] * u[2];
v[1] = w[2] * u[0] - w[0] * u[2];
v[2] = -w[1] * u[0];
} else {
inv_length = (T)1.0 / sqrt(w[1] * w[1] + w[2] * w[2]);
u[0] = (T)0;
u[1] = w[2] * inv_length;
u[2] = -w[1] * inv_length;
v[0] = w[1] * u[2] - w[2] * u[1];
v[1] = -w[0] * u[2];
v[2] = w[0] * u[1];
}
}
/* ----- Start Matrices ------ */
template <typename Derived, typename OtherDerived>
void relativeTransform(const Eigen::MatrixBase<Derived>& R1,
const Eigen::MatrixBase<OtherDerived>& t1,
const Eigen::MatrixBase<Derived>& R2,
const Eigen::MatrixBase<OtherDerived>& t2,
const Eigen::MatrixBase<Derived>& R,
const Eigen::MatrixBase<OtherDerived>& t) {
const_cast<Eigen::MatrixBase<Derived>&>(R) = R1.transpose() * R2;
const_cast<Eigen::MatrixBase<OtherDerived>&>(t) = R1.transpose() * (t2 - t1);
}
template <typename Derived, typename Vector>
void eigen(const Eigen::MatrixBase<Derived>& m,
typename Derived::Scalar dout[3], Vector* vout) {
typedef typename Derived::Scalar Scalar;
Derived R(m.derived());
int n = 3;
int j, iq, ip, i;
Scalar tresh, theta, tau, t, sm, s, h, g, c;
int nrot;
HPP_FCL_UNUSED_VARIABLE(nrot);
Scalar b[3];
Scalar z[3];
Scalar v[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
Scalar d[3];
for (ip = 0; ip < n; ++ip) {
b[ip] = d[ip] = R(ip, ip);
z[ip] = 0;
}
nrot = 0;
for (i = 0; i < 50; ++i) {
sm = 0;
for (ip = 0; ip < n; ++ip)
for (iq = ip + 1; iq < n; ++iq) sm += std::abs(R(ip, iq));
if (sm == 0.0) {
vout[0] << v[0][0], v[0][1], v[0][2];
vout[1] << v[1][0], v[1][1], v[1][2];
vout[2] << v[2][0], v[2][1], v[2][2];
dout[0] = d[0];
dout[1] = d[1];
dout[2] = d[2];
return;
}
if (i < 3)
tresh = 0.2 * sm / (n * n);
else
tresh = 0.0;
for (ip = 0; ip < n; ++ip) {
for (iq = ip + 1; iq < n; ++iq) {
g = 100.0 * std::abs(R(ip, iq));
if (i > 3 && std::abs(d[ip]) + g == std::abs(d[ip]) &&
std::abs(d[iq]) + g == std::abs(d[iq]))
R(ip, iq) = 0.0;
else if (std::abs(R(ip, iq)) > tresh) {
h = d[iq] - d[ip];
if (std::abs(h) + g == std::abs(h))
t = (R(ip, iq)) / h;
else {
theta = 0.5 * h / (R(ip, iq));
t = 1.0 / (std::abs(theta) + std::sqrt(1.0 + theta * theta));
if (theta < 0.0) t = -t;
}
c = 1.0 / std::sqrt(1 + t * t);
s = t * c;
tau = s / (1.0 + c);
h = t * R(ip, iq);
z[ip] -= h;
z[iq] += h;
d[ip] -= h;
d[iq] += h;
R(ip, iq) = 0.0;
for (j = 0; j < ip; ++j) {
g = R(j, ip);
h = R(j, iq);
R(j, ip) = g - s * (h + g * tau);
R(j, iq) = h + s * (g - h * tau);
}
for (j = ip + 1; j < iq; ++j) {
g = R(ip, j);
h = R(j, iq);
R(ip, j) = g - s * (h + g * tau);
R(j, iq) = h + s * (g - h * tau);
}
for (j = iq + 1; j < n; ++j) {
g = R(ip, j);
h = R(iq, j);
R(ip, j) = g - s * (h + g * tau);
R(iq, j) = h + s * (g - h * tau);
}
for (j = 0; j < n; ++j) {
g = v[j][ip];
h = v[j][iq];
v[j][ip] = g - s * (h + g * tau);
v[j][iq] = h + s * (g - h * tau);
}
nrot++;
}
}
}
for (ip = 0; ip < n; ++ip) {
b[ip] += z[ip];
d[ip] = b[ip];
z[ip] = 0.0;
}
}
std::cerr << "eigen: too many iterations in Jacobi transform." << std::endl;
return;
}
template <typename Derived, typename OtherDerived>
bool isEqual(const Eigen::MatrixBase<Derived>& lhs,
const Eigen::MatrixBase<OtherDerived>& rhs,
const FCL_REAL tol = std::numeric_limits<FCL_REAL>::epsilon() *
100) {
return ((lhs - rhs).array().abs() < tol).all();
}
} // namespace fcl
} // namespace hpp
#endif