function Rot_ab moved to directory geometry

jmeidow · jmeidow · commit 0cf9adf38fe8 · 2026-01-02T09:27:40.000+01:00
diff --git a/src/adjustment.cpp b/src/adjustment.cpp
@@ -1,6 +1,6 @@
 /*
  * This file is part of the GreasePad distribution (https://github.com/FraunhoferIOSB/GreasePad).
- * Copyright (c) 2022-2025 Jochen Meidow, Fraunhofer IOSB
+ * Copyright (c) 2022-2026 Jochen Meidow, Fraunhofer IOSB
  *
  * 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
@@ -18,6 +18,7 @@
 
 #include "adjustment.h"
 #include "constraints.h"
+#include "geometry/minrot.h"
 #include "global.h"
 #include "matfun.h"
 #include "matrix.h"
@@ -49,7 +50,8 @@ using Eigen::MatrixXd;
 using Eigen::SparseMatrix;
 using Eigen::VectorXidx;
 
-using Matfun::Rot_ab;
+using Geometry::Rot_ab;
+
 using Matfun::null;
 using Matfun::is_rank_deficient;
 using Matfun::indexOf;
diff --git a/src/constraints.cpp b/src/constraints.cpp
@@ -1,6 +1,6 @@
 /*
  * This file is part of the GreasePad distribution (https://github.com/FraunhoferIOSB/GreasePad).
- * Copyright (c) 2022-2025 Jochen Meidow, Fraunhofer IOSB
+ * Copyright (c) 2022-2026 Jochen Meidow, Fraunhofer IOSB
  *
  * 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
@@ -29,6 +29,7 @@
 #include <cmath>
 #include <cstdlib>
 
+#include "geometry/minrot.h"
 #include "matfun.h"
 
 namespace Constraint {
@@ -37,7 +38,8 @@ using Eigen::Vector3d;
 using Eigen::Vector2cd;
 using Eigen::Matrix;
 
-using Matfun::Rot_ab;
+using Geometry::Rot_ab;
+
 using Matfun::null;
 using Matfun::cof3;
 using Matfun::sign;
diff --git a/src/geometry/minrot.h b/src/geometry/minrot.h
@@ -0,0 +1,48 @@
+/*
+ * This file is part of the GreasePad distribution (https://github.com/FraunhoferIOSB/GreasePad).
+ * Copyright (c) 2022-2026 Jochen Meidow, Fraunhofer IOSB
+ *
+ * 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ */
+
+
+#ifndef MINROT_H
+#define MINROT_H
+
+#include <cassert>
+
+#include <Eigen/Core>
+
+
+namespace Geometry {
+
+using Eigen::MatrixXd;
+using Eigen::VectorXd;
+
+
+[[maybe_unused]] static MatrixXd Rot_ab( const VectorXd &a, const VectorXd &b)
+{
+    assert( a.size()==b.size() );
+#ifdef QT_DEBUG
+    Q_ASSERT( std::fabs( a.norm()-1.) < 1e-5 );
+    Q_ASSERT( std::fabs( b.norm()-1.) < 1e-5 );
+#endif
+    return MatrixXd::Identity( a.size(),a.size())
+           +2*b*a.adjoint()
+           -(a+b)*(a+b).adjoint()/(1.+a.dot(b));
+}
+
+} // namespace Geometry
+
+#endif // MINROT_H
diff --git a/src/greasepad.pro b/src/greasepad.pro
@@ -53,6 +53,7 @@ HEADERS += \
     conncomp.h \
     constraints.h \
     geometry/aabb.h \
+    geometry/minrot.h \
     global.h \
     mainwindow.h \
     mainscene.h \
diff --git a/src/matfun.h b/src/matfun.h
@@ -63,20 +63,6 @@ using Eigen::Dynamic;
 }
 
 
-
-[[maybe_unused]] static MatrixXd Rot_ab( const VectorXd &a, const VectorXd &b)
-{
-    Q_ASSERT( a.size()==b.size() );
-#ifdef QT_DEBUG
-    Q_ASSERT( std::fabs( a.norm()-1.) < FLT_EPSILON );
-    Q_ASSERT( std::fabs( b.norm()-1.) < FLT_EPSILON );
-#endif
-    return MatrixXd::Identity( a.size(),a.size())
-           +2*b*a.adjoint()
-           -(a+b)*(a+b).adjoint()/(1.+a.dot(b));
-}
-
-
 //! check if the matrix AA is rank-deficient
 [[maybe_unused]] static bool is_rank_deficient( SparseMatrix<double,Eigen::ColMajor> & AA, const double threshold )
 {
