Exemplos de MatrixBase::determinant em C++ (Cpp)

Exemplo n.º 1

Arquivo: rotation_matrix.hpp Projeto: lukier/Sophus

SOPHUS_FUNC bool isScaledOrthogonalAndPositive(Eigen::MatrixBase<D> const& sR) {
  using Scalar = typename D::Scalar;
  static int const N = D::RowsAtCompileTime;
  static int const M = D::ColsAtCompileTime;
  using Eigen::numext::pow;
  using Eigen::numext::sqrt;

  Scalar det = sR.determinant();

  if (det <= Scalar(0)) {
    return false;
  }

  Scalar scale_sqr = pow(det, Scalar(2. / N));

  static_assert(N == M, "must be a square matrix");
  static_assert(N >= 2, "must have compile time dimension >= 2");

  return (sR * sR.transpose() - scale_sqr * Matrix<Scalar, N, N>::Identity())
             .template lpNorm<Eigen::Infinity>() <
         sqrt(Constants<Scalar>::epsilon());
}