02ace953a9
===========================
- itasc adopted for Eigen3 library.
It compiles well, but need deeper testing for regressions.
- Removed Eigen2 library.
- Added settings to tracker which could be changed from UI.
- Pattern area is now affects on tracker.
Currently libmv supports square patterns which are centered
to marker's position. Maximal pattern dimensions is sending
to libmv as pattern size. Would be changed when libmv would
support non-centered and non-square patterns.
- Fixed bug with syncing pattern's flags when tracking.
- Current frame in cache line became a bit more visible.
It's useful for me to when debugging.
- Changed behaviour of "Add Marekr" operator: not it's non-modal
and places marker on mouse position at click.
- Added macro "Add Marekr and Move" which is used to place
markers from toolbar button.
- Added some utility functions to get image buffer under search
and pattern area which also returns relative position of
marker center for this images.
Generated images are more "correct" from coords rounding
POV, but re-calculation of marker position back to
frame coords is more complicated and not implemented yet,
so old not very accurate logic is still used.
- Added preview widget with content of pattern area.
NOTE: files saved in previous versions of this branch could
easily crash on tracking. Use "Reset To Settings" button
from Tracking Settings before tracking selected markers
for such files.
TODO:
- Implement adjusting marker position from marker's
preview widget.
- We've got an idea of sliding marker after click before
releasing mouse button.
52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
/** \file itasc/kdl/inertia.cpp
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* \ingroup itasc
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*/
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "inertia.hpp"
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#include <Eigen/Core>
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namespace KDL {
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using namespace Eigen;
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Inertia::Inertia(double m,double Ixx,double Iyy,double Izz,double Ixy,double Ixz,double Iyz):
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data(Matrix<double,6,6>::Zero())
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{
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data(0,0)=Ixx;
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data(1,1)=Iyy;
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data(2,2)=Izz;
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data(2,1)=data(1,2)=Ixy;
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data(3,1)=data(1,3)=Ixz;
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data(3,2)=data(2,3)=Iyz;
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data.block(3,3,3,3)=m*Matrix<double,3,3>::Identity();
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}
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Inertia::~Inertia()
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{
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}
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}
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