Changeset 4572 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

Timestamp:

Jun 10, 2005, 1:17:13 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: newmat lib now works with cd and cd-subproject

File:

• orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc (modified) (2 diffs)

orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -23 +23 @@
 
 #include <math.h>
+
+
+#define WANT_STREAM
+#define WANT_MATH
+#define WANT_FSTREAM
+
+
+#include "include.h"
+#include "newmat.h"
+#include "newmatap.h"
+#include "newmatio.h"
+
+
+
 
 using namespace std;
@@ -152 +166 @@
      vectors
   */
+    
+  SymmetricMatrix C(3);
+  
+  C(1,1) = 1;
+  C(1,2) = 4;
+  C(1,3) = 4;
+  C(2,1) = 4;  
+  C(2,2) = 2;
+  C(2,3) = 4;
+  C(3,1) = 4;
+  C(3,2) = 4;
+  C(3,3) = 3;
+  
+  // cout << "The symmetrix matrix C" << endl;
+  //cout << setw(5) << setprecision(0) << C << endl;
+
+  Matrix                V(3,3); // for eigenvectors
+  DiagonalMatrix        D(3);   // for eigenvalues
+  
+  // the decomposition
+  Jacobi(C, D, V);
+
+
+  // Print the result
+ /* cout << "The eigenvalues matrix:" << endl;
+  cout << setw(10) << setprecision(5) << D << endl;
+  cout << "The eigenvectors matrix:" << endl;*/