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| author |  Gael Guennebaud <g.gael@free.fr> | 2016-12-20 09:35:00 +0100 |
|---|---|---|
| committer | Gael Guennebaud <g.gael@free.fr> | 2016-12-20 09:35:00 +0100 |
| commit | f5d644b4155e2cbf2a03988c2ef592a3d2857031 (patch) | |
| tree | f3ba11f58b40c34775a7bea31d2223270b3972d5 | |
| parent | 27ceb43bf6b06dda898e5d027097f33a970f7355 (diff) | |
Make sure that HyperPlane::transform manitains a unit normal vector in the Affine case.
| -rw-r--r-- | Eigen/src/Geometry/Hyperplane.h | 3 | ||||
| -rw-r--r-- | test/geo_hyperplane.cpp | 3 |
2 files changed, 6 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h index 07f2659b2..05929b299 100644 --- a/Eigen/src/Geometry/Hyperplane.h +++ b/Eigen/src/Geometry/Hyperplane.h @@ -217,7 +217,10 @@ public: EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine) { if (traits==Affine) + { normal() = mat.inverse().transpose() * normal(); + m_coeffs /= normal().norm(); + } else if (traits==Isometry) normal() = mat * normal(); else diff --git a/test/geo_hyperplane.cpp b/test/geo_hyperplane.cpp index e77702bc7..27892850d 100644 --- a/test/geo_hyperplane.cpp +++ b/test/geo_hyperplane.cpp @@ -66,12 +66,15 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane) VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) ); pl2 = pl1; VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) ); + VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) ); pl2 = pl1; VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation) .absDistance((rot*scaling*translation) * p1), Scalar(1) ); + VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) ); pl2 = pl1; VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry) .absDistance((rot*translation) * p1), Scalar(1) ); + VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) ); } // casting |