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| author |  Rasmus Munk Larsen <rmlarsen@google.com> | 2019-01-14 13:26:58 -0800 |
|---|---|---|
| committer | Rasmus Munk Larsen <rmlarsen@google.com> | 2019-01-14 13:26:58 -0800 |
| commit | 2ea4efc0c342265fdf0b08201bb3e3b281baa529 (patch) | |
| tree | 0a37b3647f56f6935d256831109e9ab328460aeb /Eigen/src/Geometry | |
| parent | 2c5843dbbbcb5b925e06d75f58cc3bc09f19c3bb (diff) | |
| parent | 5a59452aaed01c275f0aad0c4cee86ce95292de6 (diff) | |
Merge.
Diffstat (limited to 'Eigen/src/Geometry')
| -rw-r--r-- | Eigen/src/Geometry/Transform.h | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index 75991aaed..3670767aa 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -97,6 +97,9 @@ template<int Mode> struct transform_make_affine; * - #AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix. * - #Projective: the transformation is stored as a (Dim+1)^2 matrix * without any assumption. + * - #Isometry: same as #Affine with the additional assumption that + * the linear part represents a rotation. This assumption is exploited + * to speed up some functions such as inverse() and rotation(). * \tparam _Options has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor. * These Options are passed directly to the underlying matrix type. * @@ -252,11 +255,11 @@ protected: public: /** Default constructor without initialization of the meaningful coefficients. - * If Mode==Affine, then the last row is set to [0 ... 0 1] */ + * If Mode==Affine or Mode==Isometry, then the last row is set to [0 ... 0 1] */ EIGEN_DEVICE_FUNC inline Transform() { check_template_params(); - internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix); + internal::transform_make_affine<(int(Mode)==Affine || int(Mode)==Isometry) ? Affine : AffineCompact>::run(m_matrix); } EIGEN_DEVICE_FUNC inline Transform(const Transform& other) |