1474
2017-10-05 16:36:37 +0000
add skew symmetric matrix adapter
2019-12-04 17:13:24 +0000
1
1
1
Unclassified
Eigen
Geometry
3.4 (development)
All
All
DECISIONNEEDED
JuniorJob
Normal
Feature Request
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1608
1
minorlogic
eigen.nobody
chtz
gael.guennebaud
hauke.heibel
jacob.benoit.1
oldest_to_newest
6972
0
minorlogic
2017-10-05 16:36:37 +0000
It is often required skew symmetric adapter for Vector3.
The main reason:
1. Use math notation, without loose of performance of skew matrix (for elements that don't require calculations).
2. Use knowledge about matrix structure to speedup calculations
a) don't calculate zero elements.
b) use knowledge about difference of elements only by signs, that can improve performance.
It can be implemented is similar way that "asDiagonal" do.
8204
1
chtz
2019-07-16 14:07:59 +0000
Interesting feature. This would also simplify/optimize writing things like
for(int i=0; i<n; ++i) res.col(i) = a.cross(b.col(i));
For two vectors a.cross(b) should generate the same code as a.skew()*b;
And it might be worth considering to implement a.skew().exp() (i.e., calculating the matrix exponential of a skew-symmetric matrix -- which is much easier than the general case)
Not sure about the name. Maybe .asSkew() or .asSkewSymmetric()?
And do we want the inverse as well? (Getting a 3x1 vector from a 3x3 matrix)
9918
2
eigen.nobody
2019-12-04 17:13:24 +0000
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