diff options
author | Gael Guennebaud <g.gael@free.fr> | 2008-08-30 23:10:46 +0000 |
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committer | Gael Guennebaud <g.gael@free.fr> | 2008-08-30 23:10:46 +0000 |
commit | 5c8c09e02188ab4441a99bb07c5feb1308ab068f (patch) | |
tree | 6ebbc9028acbfce791ae0dcf4f44007403fe0186 /Eigen/src | |
parent | 9c450a52a28e10f4caf87a968612fa8d007ce4b1 (diff) |
add uniform scale/prescale functions in Tranform
Diffstat (limited to 'Eigen/src')
-rw-r--r-- | Eigen/src/Geometry/RotationBase.h | 4 | ||||
-rw-r--r-- | Eigen/src/Geometry/Transform.h | 26 |
2 files changed, 28 insertions, 2 deletions
diff --git a/Eigen/src/Geometry/RotationBase.h b/Eigen/src/Geometry/RotationBase.h index e436f8fe6..dff905528 100644 --- a/Eigen/src/Geometry/RotationBase.h +++ b/Eigen/src/Geometry/RotationBase.h @@ -77,7 +77,7 @@ template<typename OtherDerived> Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r) { - EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,OtherDerived::Dim,OtherDerived::Dim); + EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)); *this = r.toRotationMatrix(); } @@ -91,7 +91,7 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>& Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols> ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r) { - EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,OtherDerived::Dim,OtherDerived::Dim); + EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim)); return *this = r.toRotationMatrix(); } diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index da457fc38..7475b75df 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -188,6 +188,9 @@ public: template<typename OtherDerived> inline Transform& prescale(const MatrixBase<OtherDerived> &other); + inline Transform& scale(Scalar s); + inline Transform& prescale(Scalar s); + template<typename OtherDerived> inline Transform& translate(const MatrixBase<OtherDerived> &other); @@ -310,6 +313,17 @@ Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other) return *this; } +/** Applies on the right a uniform scale of a factor \a c to \c *this + * and returns a reference to \c *this. + * \sa prescale(Scalar) + */ +template<typename Scalar, int Dim> +inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::scale(Scalar s) +{ + linear() *= s; + return *this; +} + /** Applies on the left the non uniform scale transformation represented * by the vector \a other to \c *this and returns a reference to \c *this. * \sa scale() @@ -324,6 +338,17 @@ Transform<Scalar,Dim>::prescale(const MatrixBase<OtherDerived> &other) return *this; } +/** Applies on the left a uniform scale of a factor \a c to \c *this + * and returns a reference to \c *this. + * \sa scale(Scalar) + */ +template<typename Scalar, int Dim> +inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::prescale(Scalar s) +{ + m_matrix.template corner<Dim,HDim>(TopLeft) *= s; + return *this; +} + /** Applies on the right the translation matrix represented by the vector \a other * to \c *this and returns a reference to \c *this. * \sa pretranslate() @@ -516,6 +541,7 @@ Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const return linear(); else ei_assert("invalid traits value in Transform::inverse()"); + return LinearMatrixType(); } /** Convenient method to set \c *this from a position, orientation and scale |