--- milena/ChangeLog | 4 +++ milena/mln/fun/x2x/rotation.hh | 55 +++++++-------------------------------- 2 files changed, 14 insertions(+), 45 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index f732b77..5ed9064 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,5 +1,9 @@ 2012-05-28 Guillaume Lazzara <z@lrde.epita.fr> + * mln/fun/x2x/rotation.hh: Remove alpha and axis attributes. + +2012-05-28 Guillaume Lazzara <z@lrde.epita.fr> + * mln/registration/icp.hh: Cleanup some debug. 2012-05-28 Guillaume Lazzara <z@lrde.epita.fr> diff --git a/milena/mln/fun/x2x/rotation.hh b/milena/mln/fun/x2x/rotation.hh index da0e1fc..8e106f7 100644 --- a/milena/mln/fun/x2x/rotation.hh +++ b/milena/mln/fun/x2x/rotation.hh @@ -1,4 +1,4 @@ -// Copyright (C) 2007, 2008, 2009, 2010, 2011 EPITA Research and +// Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012 EPITA Research and // Development Laboratory (LRDE) // // This file is part of Olena. @@ -163,7 +163,7 @@ namespace mln rotation(); /// Constructor with radian alpha and a facultative direction /// (rotation axis). - rotation(C alpha, const algebra::vec<n,C>& axis); + rotation(const C& alpha, const algebra::vec<n,C>& axis); /// Constructor with quaternion rotation(const algebra::quat& q); /// Constructor with h_mat. @@ -172,24 +172,16 @@ namespace mln /// Perform the rotation of the given vector. algebra::vec<n,C> operator()(const algebra::vec<n,C>& v) const; - /// Set a new grade alpha. - void set_alpha(C alpha); - /// Set a new rotation axis. - void set_axis(const algebra::vec<n,C>& axis); - protected: - void update(); + void update(const C& alpha, const algebra::vec<n,C>& axis); bool check_rotation(const algebra::quat& q); - /* FIXME: Is it useful to keep these values, since they are - primarily used to build the matrix `m_'? */ - C alpha_; - algebra::vec<n,C> axis_; }; # ifndef MLN_INCLUDE_ONLY + template <unsigned n, typename C> inline rotation<n,C>::rotation() @@ -198,12 +190,10 @@ namespace mln template <unsigned n, typename C> inline - rotation<n,C>::rotation(C alpha, const algebra::vec<n,C>& axis) - : alpha_(alpha), - axis_(axis) + rotation<n,C>::rotation(const C& alpha, const algebra::vec<n,C>& axis) { this->m_ = algebra::h_mat<n,C>::Id; - update(); + update(alpha, axis); } template <unsigned n, typename C> @@ -214,15 +204,8 @@ namespace mln mlc_bool(n == 3)::check(); mln_precondition(q.is_unit()); - this->m_ = mln::make::h_mat(q); + this->m_ = mln::make::h_mat(C(), q); mln_assertion(check_rotation(q)); - - /// Update attributes. - alpha_ = acos(w) * 2; - axis_[0] = x; - axis_[1] = y; - axis_[2] = z; - axis_.normalize(); } @@ -257,36 +240,18 @@ namespace mln rotation<n,C> rotation<n,C>::inv() const { - typename rotation::invert res(-alpha_, axis_); + typename rotation::invert res(this->m_._1()); return res; } - template <unsigned n, typename C> - inline - void - rotation<n,C>::set_alpha(C alpha) - { - alpha_ = alpha; - update(); - } - - template <unsigned n, typename C> - inline - void - rotation<n,C>::set_axis(const algebra::vec<n,C>& axis) - { - axis_ = axis; - update(); - } - // Homogenous matrix for a rotation of a point (x,y,z) // about the vector (u,v,w) by the angle alpha. template <unsigned n, typename C> inline void - rotation<n,C>::update() + rotation<n,C>::update(const C& alpha, const algebra::vec<n,C>& axis) { - this->m_ = internal::get_rot_h_mat(alpha_, axis_); + this->m_ = internal::get_rot_h_mat(alpha, axis); } template <unsigned n, typename C> -- 1.7.2.5