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[Octave-cvsupdate] SF.net SVN: octave:[6944] trunk/octave-forge/main
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From: <hi...@us...> - 2010-02-22 07:07:22
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Revision: 6944
http://octave.svn.sourceforge.net/octave/?rev=6944&view=rev
Author: highegg
Date: 2010-02-22 07:07:16 +0000 (Mon, 22 Feb 2010)
Log Message:
-----------
move rotv and rotparams to linear-algebra
Modified Paths:
--------------
trunk/octave-forge/main/linear-algebra/INDEX
trunk/octave-forge/main/miscellaneous/INDEX
Added Paths:
-----------
trunk/octave-forge/main/linear-algebra/inst/rotparams.m
trunk/octave-forge/main/linear-algebra/inst/rotv.m
Removed Paths:
-------------
trunk/octave-forge/main/miscellaneous/inst/rotparams.m
trunk/octave-forge/main/miscellaneous/inst/rotv.m
Modified: trunk/octave-forge/main/linear-algebra/INDEX
===================================================================
--- trunk/octave-forge/main/linear-algebra/INDEX 2010-02-22 07:06:08 UTC (rev 6943)
+++ trunk/octave-forge/main/linear-algebra/INDEX 2010-02-22 07:07:16 UTC (rev 6944)
@@ -5,6 +5,8 @@
thfm
outer
cartprod
+ rotparams
+ rotv
Matrix factorization
gsvd
GramSchmidt
Copied: trunk/octave-forge/main/linear-algebra/inst/rotparams.m (from rev 6941, trunk/octave-forge/main/miscellaneous/inst/rotparams.m)
===================================================================
--- trunk/octave-forge/main/linear-algebra/inst/rotparams.m (rev 0)
+++ trunk/octave-forge/main/linear-algebra/inst/rotparams.m 2010-02-22 07:07:16 UTC (rev 6944)
@@ -0,0 +1,71 @@
+## Copyright (C) 2002 Etienne Grossmann. All rights reserved.
+##
+## This program is free software; you can redistribute it and/or modify it
+## under the terms of the GNU General Public License as published by the
+## Free Software Foundation; either version 2, or (at your option) any
+## later version.
+##
+## This is distributed in the hope that it will be useful, but WITHOUT
+## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+## for more details.
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {@var{[vstacked, astacked]} = } rotparams ( rstacked )
+## @cindex
+## The function w = rotparams (r) - Inverse to rotv().
+## Using, @var{w} = rotparams(@var{r}) is such that
+## rotv(w)*r' == eye(3).
+##
+## If used as, [v,a]=rotparams(r) , idem, with v (1 x 3) s.t. w == a*v.
+##
+## 0 <= norm(w)==a <= pi
+##
+## :-O !! Does not check if 'r' is a rotation matrix.
+##
+## Ignores matrices with zero rows or with NaNs. (returns 0 for them)
+##
+## @seealso{rotv}
+## @end deftypefn
+
+## Author: Etienne Grossmann <et...@cs...>
+
+function [vstacked, astacked] = rotparams (rstacked)
+
+N = size (rstacked,1) / 3;
+
+## ang = 0 ;
+## if length(varargin),
+## if strcmp(varargin{1},'ang'), ang = 1; end
+## end
+ok = all ( ! isnan (rstacked') ) & any ( rstacked' );
+ok = min ( reshape (ok,3,N) );
+ok = find (ok) ;
+## keyboard
+vstacked = zeros (N,3);
+astacked = zeros (N,1);
+for j = ok,
+ r = rstacked(3*j-2:3*j,:);
+ [v,f] = eig (r);
+ f = diag(f);
+
+ [m,i] = min (abs (real (f)-1));
+ v = v(:,i);
+
+ w = null (v');
+ u = w(:,1);
+ a = u'*r*u;
+ if a<1,
+ a = real (acos (u'*r*u));
+ else
+ a = 0;
+ end
+ ## Check orientation
+ x=r*u;
+ if v'*[0 -u(3) u(2); u(3) 0 -u(1);-u(2) u(1) 0]*x < 0, v=-v; end
+
+
+ if nargout <= 1, v = v*a; end
+ vstacked(j,:) = -v';
+ astacked(j) = a;
+end
Copied: trunk/octave-forge/main/linear-algebra/inst/rotv.m (from rev 6941, trunk/octave-forge/main/miscellaneous/inst/rotv.m)
===================================================================
--- trunk/octave-forge/main/linear-algebra/inst/rotv.m (rev 0)
+++ trunk/octave-forge/main/linear-algebra/inst/rotv.m 2010-02-22 07:07:16 UTC (rev 6944)
@@ -0,0 +1,85 @@
+## Copyright (C) 2002 Etienne Grossmann. All rights reserved.
+##
+## This program is free software; you can redistribute it and/or modify it
+## under the terms of the GNU General Public License as published by the
+## Free Software Foundation; either version 2, or (at your option) any
+## later version.
+##
+## This is distributed in the hope that it will be useful, but WITHOUT
+## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+## for more details.
+##
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {@var{r} = } rotv ( v, ang )
+## @cindex
+## The functionrotv calculates a Matrix of rotation about @var{v} w/ angle |v|
+## r = rotv(v [,ang])
+##
+## Returns the rotation matrix w/ axis v, and angle, in radians, norm(v) or
+## ang (if present).
+##
+## rotv(v) == w'*w + cos(a) * (eye(3)-w'*w) - sin(a) * crossmat(w)
+##
+## where a = norm (v) and w = v/a.
+##
+## v and ang may be vertically stacked : If 'v' is 2x3, then
+## rotv( v ) == [rotv(v(1,:)); rotv(v(2,:))]
+##
+## @example
+##
+## @end example
+## @seealso{rotparams}
+## @end deftypefn
+
+## See also : rota, rot
+##
+
+## Author: Etienne Grossmann <et...@cs...>
+## Last modified: Setembro 2002
+
+function r = rotv(v ,ang)
+
+if nargin > 1
+ v = v.*((ang(:)./sqrt(sum(v'.^2))')*ones(1,3));
+end
+## For checking only
+## v00 = v ;
+## static toto = floor(rand(1)*100) ;
+## toto
+a = sqrt(sum(v'.^2))' ;
+oka = find(a!=0);
+if all(size(oka)),
+ v(oka,:) = v(oka,:)./(a(oka)*ones(1,3)) ;
+end
+## ca = cos(a);
+## sa = sin(a);
+
+N = size(v,1) ; N3 = 3*N ;
+r = (reshape( v', N3,1 )*ones(1,3)).*kron(v,ones(3,1)) ;
+r += kron(cos(a),ones(3,3)) .* (kron(ones(N,1),eye(3))-r) ;
+
+## kron(cos(a),ones(3,3)) .* (kron(ones(N,1),eye(3))-r0)
+## cos(a)
+
+tmp = zeros(N3,3) ;
+tmp( 2:3:N3,1 ) = v(:,3) ;
+tmp( 1:3:N3,2 ) = -v(:,3) ;
+tmp( 3:3:N3,1 ) = -v(:,2) ;
+tmp( 1:3:N3,3 ) = v(:,2) ;
+tmp( 2:3:N3,3 ) = -v(:,1) ;
+tmp( 3:3:N3,2 ) = v(:,1) ;
+## keyboard
+r -= kron(sin(a),ones(3)) .* tmp ;
+
+## For checking only
+## r2 = zeros(N3,3) ;
+## for i=1:size(v,1),
+## v0 = v00(i,:);
+## t = norm(v0);
+## if t, v0 = v0/t; end;
+## r2(3*i-2:3*i,:) = v0'*v0 + cos(t)*(eye(3)-v0'*v0) + -sin(t)*[0, -v0(3), v0(2);v0(3), 0, -v0(1);-v0(2), v0(1), 0];
+## end
+## max(abs(r2(:)-r(:)))
+
Modified: trunk/octave-forge/main/miscellaneous/INDEX
===================================================================
--- trunk/octave-forge/main/miscellaneous/INDEX 2010-02-22 07:06:08 UTC (rev 6943)
+++ trunk/octave-forge/main/miscellaneous/INDEX 2010-02-22 07:07:16 UTC (rev 6944)
@@ -11,8 +11,6 @@
match
nze
reduce
- rotparams
- rotv
slurp_file
units
zagzig
Deleted: trunk/octave-forge/main/miscellaneous/inst/rotparams.m
===================================================================
--- trunk/octave-forge/main/miscellaneous/inst/rotparams.m 2010-02-22 07:06:08 UTC (rev 6943)
+++ trunk/octave-forge/main/miscellaneous/inst/rotparams.m 2010-02-22 07:07:16 UTC (rev 6944)
@@ -1,71 +0,0 @@
-## Copyright (C) 2002 Etienne Grossmann. All rights reserved.
-##
-## This program is free software; you can redistribute it and/or modify it
-## under the terms of the GNU General Public License as published by the
-## Free Software Foundation; either version 2, or (at your option) any
-## later version.
-##
-## This is distributed in the hope that it will be useful, but WITHOUT
-## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-## for more details.
-
-## -*- texinfo -*-
-## @deftypefn{Function File} {@var{[vstacked, astacked]} = } rotparams ( rstacked )
-## @cindex
-## The function w = rotparams (r) - Inverse to rotv().
-## Using, @var{w} = rotparams(@var{r}) is such that
-## rotv(w)*r' == eye(3).
-##
-## If used as, [v,a]=rotparams(r) , idem, with v (1 x 3) s.t. w == a*v.
-##
-## 0 <= norm(w)==a <= pi
-##
-## :-O !! Does not check if 'r' is a rotation matrix.
-##
-## Ignores matrices with zero rows or with NaNs. (returns 0 for them)
-##
-## @seealso{rotv}
-## @end deftypefn
-
-## Author: Etienne Grossmann <et...@cs...>
-
-function [vstacked, astacked] = rotparams (rstacked)
-
-N = size (rstacked,1) / 3;
-
-## ang = 0 ;
-## if length(varargin),
-## if strcmp(varargin{1},'ang'), ang = 1; end
-## end
-ok = all ( ! isnan (rstacked') ) & any ( rstacked' );
-ok = min ( reshape (ok,3,N) );
-ok = find (ok) ;
-## keyboard
-vstacked = zeros (N,3);
-astacked = zeros (N,1);
-for j = ok,
- r = rstacked(3*j-2:3*j,:);
- [v,f] = eig (r);
- f = diag(f);
-
- [m,i] = min (abs (real (f)-1));
- v = v(:,i);
-
- w = null (v');
- u = w(:,1);
- a = u'*r*u;
- if a<1,
- a = real (acos (u'*r*u));
- else
- a = 0;
- end
- ## Check orientation
- x=r*u;
- if v'*[0 -u(3) u(2); u(3) 0 -u(1);-u(2) u(1) 0]*x < 0, v=-v; end
-
-
- if nargout <= 1, v = v*a; end
- vstacked(j,:) = -v';
- astacked(j) = a;
-end
Deleted: trunk/octave-forge/main/miscellaneous/inst/rotv.m
===================================================================
--- trunk/octave-forge/main/miscellaneous/inst/rotv.m 2010-02-22 07:06:08 UTC (rev 6943)
+++ trunk/octave-forge/main/miscellaneous/inst/rotv.m 2010-02-22 07:07:16 UTC (rev 6944)
@@ -1,85 +0,0 @@
-## Copyright (C) 2002 Etienne Grossmann. All rights reserved.
-##
-## This program is free software; you can redistribute it and/or modify it
-## under the terms of the GNU General Public License as published by the
-## Free Software Foundation; either version 2, or (at your option) any
-## later version.
-##
-## This is distributed in the hope that it will be useful, but WITHOUT
-## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-## for more details.
-##
-
-## -*- texinfo -*-
-## @deftypefn{Function File} {@var{r} = } rotv ( v, ang )
-## @cindex
-## The functionrotv calculates a Matrix of rotation about @var{v} w/ angle |v|
-## r = rotv(v [,ang])
-##
-## Returns the rotation matrix w/ axis v, and angle, in radians, norm(v) or
-## ang (if present).
-##
-## rotv(v) == w'*w + cos(a) * (eye(3)-w'*w) - sin(a) * crossmat(w)
-##
-## where a = norm (v) and w = v/a.
-##
-## v and ang may be vertically stacked : If 'v' is 2x3, then
-## rotv( v ) == [rotv(v(1,:)); rotv(v(2,:))]
-##
-## @example
-##
-## @end example
-## @seealso{rotparams}
-## @end deftypefn
-
-## See also : rota, rot
-##
-
-## Author: Etienne Grossmann <et...@cs...>
-## Last modified: Setembro 2002
-
-function r = rotv(v ,ang)
-
-if nargin > 1
- v = v.*((ang(:)./sqrt(sum(v'.^2))')*ones(1,3));
-end
-## For checking only
-## v00 = v ;
-## static toto = floor(rand(1)*100) ;
-## toto
-a = sqrt(sum(v'.^2))' ;
-oka = find(a!=0);
-if all(size(oka)),
- v(oka,:) = v(oka,:)./(a(oka)*ones(1,3)) ;
-end
-## ca = cos(a);
-## sa = sin(a);
-
-N = size(v,1) ; N3 = 3*N ;
-r = (reshape( v', N3,1 )*ones(1,3)).*kron(v,ones(3,1)) ;
-r += kron(cos(a),ones(3,3)) .* (kron(ones(N,1),eye(3))-r) ;
-
-## kron(cos(a),ones(3,3)) .* (kron(ones(N,1),eye(3))-r0)
-## cos(a)
-
-tmp = zeros(N3,3) ;
-tmp( 2:3:N3,1 ) = v(:,3) ;
-tmp( 1:3:N3,2 ) = -v(:,3) ;
-tmp( 3:3:N3,1 ) = -v(:,2) ;
-tmp( 1:3:N3,3 ) = v(:,2) ;
-tmp( 2:3:N3,3 ) = -v(:,1) ;
-tmp( 3:3:N3,2 ) = v(:,1) ;
-## keyboard
-r -= kron(sin(a),ones(3)) .* tmp ;
-
-## For checking only
-## r2 = zeros(N3,3) ;
-## for i=1:size(v,1),
-## v0 = v00(i,:);
-## t = norm(v0);
-## if t, v0 = v0/t; end;
-## r2(3*i-2:3*i,:) = v0'*v0 + cos(t)*(eye(3)-v0'*v0) + -sin(t)*[0, -v0(3), v0(2);v0(3), 0, -v0(1);-v0(2), v0(1), 0];
-## end
-## max(abs(r2(:)-r(:)))
-
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