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ENH: Introduce rotor() helper

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This commit is contained in:
David Allemang
2023-02-04 13:35:52 -05:00
parent f6e4392b51
commit 6c3754a3fa
1 changed files with 18 additions and 0 deletions
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18
vis/include/mirror.hpp
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@@ -100,3 +100,21 @@ mat<N> rot(int u, int v, float theta) {
res(v, v) = std::cos(theta); res(v, v) = std::cos(theta);
return res; return res;
} }
template<class U, class V>
auto rotor(U const &u, V const &v) {
using Rotor = Eigen::Matrix<
typename U::Scalar,
std::min(U::RowsAtCompileTime, V::RowsAtCompileTime),
std::min(U::RowsAtCompileTime, V::RowsAtCompileTime),
U::Options,
std::max(U::MaxRowsAtCompileTime, V::MaxRowsAtCompileTime),
std::max(U::MaxRowsAtCompileTime, V::MaxRowsAtCompileTime)
>;
const auto &ident = Rotor::Identity(u.rows(), v.rows());
const auto &inner = (u + v) / (1 + u.dot(v)) * (u + v).transpose();
const auto &outer = v * u.transpose();
return ident - inner + 2 * outer;
}