Changeset 5669 in orxonox.OLD for trunk/src/lib/math

Timestamp:

Nov 21, 2005, 12:01:17 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: eigenvectors ar fuing right now

Location:

trunk/src/lib/math

Files:

• matrix.cc (modified) (2 diffs)
• test.cc (modified) (1 diff)

trunk/src/lib/math/matrix.cc

@@ -81 +81 @@
   Vector eigVc[3];
   /* eigenvec test */
-  for(int i = 0; i < 3; i++)
+  for(int i = 0; i < 2; i++)
   {
     eigVc[i].x = -1/this->m13*(this->m33 - eigVal[i]) + (this->m32*(-this->m31*this->m32 + this->m12*this->m33 - this->m12*eigVal[i])) /
@@ -91 +91 @@
     eigVc[i].z = 1.0f;
 
-
+    eigVc[i] /= eigVc[i].len();
     printf("home brew: %f, %f, %f\n", eigVc[i].x, eigVc[i].y, eigVc[i].z);
   }
+  eigVc[2] = eigVc[0].cross(eigVc[1]);
+    printf("home brew: %f, %f, %f\n", eigVc[2].x, eigVc[2].y, eigVc[2].z);
 
-
-  // EigenVectors
-//   for (int i = 0; i < 3; ++i)
-//   {
-//     printf (":: i = %d\n", i);
-//     Matrix M = *this -  Matrix::identity() * eigVal[i];
-//     Vector m1, m2, m3;
-//
-//     M.getTransposed().toVectors(m1, m2, m3);
-//     Matrix U ( M.m22*M.m33 - M.m23*M.m23, M.m13*M.m23 - M.m12*M.m33, M.m12*M.m23 - M.m13*M.m22,
-//                M.m13*M.m23 - M.m12*M.m33, M.m11*M.m33 - M.m13*M.m13, M.m12*M.m13 - M.m23*M.m11,
-//                M.m12*M.m23 - M.m13*M.m22, M.m13*M.m12 - M.m23*M.m11, M.m11*M.m22 - M.m12*M.m12);
-//     U.debug();
-//
-//     Vector u1, u2, u3;
-//     U.toVectors(u1, u2, u3);
-//
-// /*
-//     u1 = m2.cross(m3);
-//     u2 = m3.cross(m1);
-//     u3 = m1.cross(m2);
-// */
-//
-//     u1 /= u1.len();
-//     u2 /= u2.len();
-//     u3 /= u3.len();
-//
-//
-//     printf("%f, %f, %f\n", u1.x, u1.y, u1.z);
-//     printf("%f, %f, %f\n", u2.x, u2.y, u2.z);
-//     printf("%f, %f, %f\n", u3.x, u3.y, u3.z);
-
-
-
-//     u1 = M*u1;
-//     u2 = M*u2;
-//     u3 = M*u3;
-    //
-//     printf("%f, %f, %f\n", u1.x, u1.y, u1.z);
-//     printf("%f, %f, %f\n", u2.x, u2.y, u2.z);
-//     printf("%f, %f, %f\n", u3.x, u3.y, u3.z);
-//     printf("\n\n");
-//  }
-
-
-
-  this->debug();
+  a = eigVc[0];
+  b = eigVc[1];
+  c = eigVc[2];
 }
 

trunk/src/lib/math/test.cc

@@ -11 +11 @@
         Vector eigVc[3];
 
+        matrix.debug();
 //        matrix.getEigenValues();
+        matrix.getEigenVectors(eigVc[0], eigVc[1], eigVc[2]);
+
+        matrix = Matrix (0, 3, 1,
+                         3, 1, 0,
+                         1, 0, 1);
+       matrix.debug();
         matrix.getEigenVectors(eigVc[0], eigVc[1], eigVc[2]);
 }