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Eigen
3.3.8
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Rotation given by a cosine-sine pair.
This is defined in the Jacobi module.
This class represents a Jacobi or Givens rotation. This is a 2D rotation in the plane J
of angle defined by its cosine
c
and sine s
as follow:
You can apply the respective counter-clockwise rotation to a column vector v
by applying its adjoint on the left: that translates to the following Eigen code:
Public Member Functions | |
JacobiRotation | adjoint () const |
JacobiRotation () | |
JacobiRotation (const Scalar &c, const Scalar &s) | |
template<typename Derived > | |
bool | makeJacobi (const MatrixBase< Derived > &, Index p, Index q) |
template<typename Scalar > | |
bool | makeJacobi (const RealScalar &x, const Scalar &y, const RealScalar &z) |
JacobiRotation | operator* (const JacobiRotation &other) |
JacobiRotation | transpose () const |
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inline |
Default constructor without any initialization.
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inline |
Construct a planar rotation from a cosine-sine pair (c, s
).
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inline |
Returns the adjoint transformation
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inline |
Makes *this
as a Jacobi rotation J
such that applying J on both the right and left sides of the 2x2 selfadjoint matrix yields a diagonal matrix
Example:
Output:
Here is the matrix m: 1.36 0.355 0.355 1.19 Here is the matrix J' * m * J: 1.64 0 0 0.913
bool Eigen::JacobiRotation::makeJacobi | ( | const RealScalar & | x, |
const Scalar & | y, | ||
const RealScalar & | z | ||
) |
Makes *this
as a Jacobi rotation J such that applying J on both the right and left sides of the selfadjoint 2x2 matrix yields a diagonal matrix
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inline |
Concatenates two planar rotation
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inline |
Returns the transposed transformation