function skew moved to geometry

jmeidow · jmeidow · commit 1ec4c1b9c34b · 2026-01-02T10:35:00.000+01:00
diff --git a/src/geometry/conics.h b/src/geometry/conics.h
@@ -31,7 +31,7 @@
 #include "qassert.h"
 #include "qlogging.h"
 
-#include "matfun.h"
+#include "geometry/skew.h"
 
 
 //! conics, rotations, bounding boxes, cross product
@@ -42,8 +42,6 @@ using Eigen::Vector3d;
 using Eigen::Matrix2d;
 using Eigen::Vector2d;
 
-using Matfun::skew;
-
 
 //! Base class for conics
 class ConicBase
diff --git a/src/geometry/skew.h b/src/geometry/skew.h
@@ -0,0 +1,37 @@
+/*
+ * 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 SKEW_H
+#define SKEW_H
+
+
+#include <Eigen/Core>
+
+namespace Geometry {
+
+//! skew-symmetric matrix S(x) from vector x
+template <typename T>
+[[maybe_unused]] inline static Eigen::Matrix<T,3,3> skew(const Eigen::Vector<T,3> &x)
+{
+    return (Eigen::Matrix<T,3,3>() << 0.,-x(2),x(1), x(2),0.,-x(0), -x(1),x(0),0.).finished();
+}
+
+} // namespace Geometry
+
+#endif // SKEW_H
diff --git a/src/greasepad.pro b/src/greasepad.pro
@@ -53,6 +53,7 @@ HEADERS += \
     geometry/aabb.h \
     geometry/conics.h \
     geometry/minrot.h \
+    geometry/skew.h \
     global.h \
     mainwindow.h \
     mainscene.h \
diff --git a/src/matfun.h b/src/matfun.h
@@ -77,14 +77,6 @@ using Eigen::Dynamic;
 }
 
 
-//! skew-symmetric matrix S(x) from vector x
-template <typename T>
-[[maybe_unused]] static Matrix<T,3,3> skew(const Vector<T,3> &x)
-{
-    return (Matrix<T,3,3>() << 0.,-x(2),x(1), x(2),0.,-x(0), -x(1),x(0),0.).finished();
-}
-
-
 //! 3x3 cofactor matrix, i.e., transposed adjugate
 [[maybe_unused]] static Matrix3d cof3(const Matrix3d &MM)
 {
diff --git a/src/uncertain.h b/src/uncertain.h
@@ -26,15 +26,16 @@
 #include <cmath>
 #include <utility>
 
-#include "matfun.h"
+#include "geometry/skew.h"
 
 
 //! Uncertain geometric entities
 namespace Uncertain {
 
 using Eigen::Matrix3d;
 using Eigen::Vector3d;
-using Matfun::skew;
+
+using Geometry::skew;
 
 
 //! Check if matrix is covariance matrix
diff --git a/src/upoint.cpp b/src/upoint.cpp
@@ -17,6 +17,7 @@
  */
 
 
+#include "matfun.h"
 #include "uncertain.h"
 #include "upoint.h"
 #include "ustraightline.h"
diff --git a/src/usegment.cpp b/src/usegment.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
@@ -16,9 +16,11 @@
  * along with this program. If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include "usegment.h"
+
+#include "matfun.h"
 #include "uncertain.h"
 #include "upoint.h"
+#include "usegment.h"
 #include "ustraightline.h"
 
 #include <Eigen/Core>
@@ -41,6 +43,7 @@ using Eigen::VectorXd;
 
 using Matfun::sign;
 
+
 namespace Uncertain {
 
 // class uPoint;

Original file line number	Diff line number	Diff line change
`@@ -77,14 +77,6 @@ using Eigen::Dynamic;`
`77`	`77`	`}`
`78`	`78`
`79`	`79`
`80`		`-//! skew-symmetric matrix S(x) from vector x`
`81`		`-template <typename T>`
`82`		`-[[maybe_unused]] static Matrix<T,3,3> skew(const Vector<T,3> &x)`
`83`		`-{`
`84`		`- return (Matrix<T,3,3>() << 0.,-x(2),x(1), x(2),0.,-x(0), -x(1),x(0),0.).finished();`
`85`		`-}`
`86`		`-`
`87`		`-`
`88`	`80`	`//! 3x3 cofactor matrix, i.e., transposed adjugate`
`89`	`81`	`[[maybe_unused]] static Matrix3d cof3(const Matrix3d &MM)`
`90`	`82`	`{`