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3 #include <Eigen/Geometry>
24 template<
typename Transformation,
typename Data>
32 template<
typename Scalar,
typename Data>
49 template<
typename QType,
typename Data>
53 data =
t.object.toRotationMatrix() *
data;
57 template<
typename Scalar,
int Dim,
typename Data>
60 data = (
t *
data.colwise().homogeneous()).
template block<Dim,Data::ColsAtCompileTime>(0,0);
63 template<
typename T>
struct get_dim {
enum { Dim = T::Dim }; };
64 template<
typename S,
int R,
int C,
int O,
int MR,
int MC>
67 template<
typename Transformation,
int N>
83 template<
typename Transformation>
89 template<
typename Transformation>
97 int main(
int argc,
char ** argv)
118 bench(
"matrix 3x3", mat33);
119 bench(
"quaternion", quat);
120 bench(
"quat-mat ", quatmat);
122 bench(
"affine3 ", aff3);
123 bench(
"c affine3 ", caff3);
124 bench(
"proj3 ", proj3);
Matrix< RealScalar, Dynamic, Dynamic > M
Namespace containing all symbols from the Eigen library.
Matrix< SCALARB, Dynamic, Dynamic, opt_B > B
Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols > & setRandom(Index size)
ToRotationMatrixWrapper(const T &o)
Matrix< Scalar, Dynamic, Dynamic > C
int main(int argc, char **argv)
Matrix< SCALARA, Dynamic, Dynamic, opt_A > A
NumTraits< Scalar >::Real RealScalar
#define BENCH(TIMER, TRIES, REP, CODE)
EIGEN_DONT_INLINE void transform(const Transformation &t, Data &data)
static EIGEN_DONT_INLINE void run(const Transformation &t)
The quaternion class used to represent 3D orientations and rotations.
static noiseModel::Isotropic::shared_ptr iso3
#define EIGEN_ASM_COMMENT(X)
double best(int TIMER=CPU_TIMER) const
The matrix class, also used for vectors and row-vectors.
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
EIGEN_DONT_INLINE void bench(const std::string &msg, const Transformation &t)
Rot2 R(Rot2::fromAngle(0.1))
#define EIGEN_DONT_INLINE
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:38