add test for geometry with eigen2_ prefixes. fix that stuff.

16 files changed, 58 insertions, 66 deletions

diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h
index 70b7eb66c..f41d554ec 100644
--- a/Eigen/src/Core/Matrix.h
+++ b/Eigen/src/Core/Matrix.h
@@ -336,6 +336,13 @@ class Matrix
     template<typename OtherDerived>
     Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
 
+    #ifdef EIGEN2_SUPPORT
+    template<typename OtherDerived>
+    explicit Matrix(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    template<typename OtherDerived>
+    Matrix& operator=(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
+    #endif
+
     // allow to extend Matrix outside Eigen
     #ifdef EIGEN_MATRIX_PLUGIN
     #include EIGEN_MATRIX_PLUGIN
diff --git a/Eigen/src/Core/MatrixBase.h b/Eigen/src/Core/MatrixBase.h
index 096438f96..5864cdbd6 100644
--- a/Eigen/src/Core/MatrixBase.h
+++ b/Eigen/src/Core/MatrixBase.h
@@ -204,7 +204,7 @@ template<typename Derived> class MatrixBase
       template<typename OtherDerived>
       typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
       #if EIGEN2_SUPPORT_STAGE == STAGE15_RESOLVE_API_CONFLICTS_WARN
-      EIGEN_DEPRECATED Scalar
+      EIGEN_DEPRECATED
       #endif
       dot(const MatrixBase<OtherDerived>& other) const;
     #endif
diff --git a/Eigen/src/Core/util/ForwardDeclarations.h b/Eigen/src/Core/util/ForwardDeclarations.h
index e873f15cb..00742e4b1 100644
--- a/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/Eigen/src/Core/util/ForwardDeclarations.h
@@ -220,7 +220,6 @@ template<typename Scalar>     class JacobiRotation;
 template<typename Derived, int _Dim> class RotationBase;
 template<typename Lhs, typename Rhs> class Cross;
 template<typename Derived> class QuaternionBase;
-template<typename Scalar, int Options = AutoAlign> class Quaternion;
 template<typename Scalar> class Rotation2D;
 template<typename Scalar> class AngleAxis;
 template<typename Scalar,int Dim> class Translation;
@@ -239,6 +238,7 @@ template<typename Scalar,int Dim> class eigen2_Scaling;
 #endif
 
 #if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
+template<typename Scalar> class Quaternion;
 template<typename Scalar,int Dim> class Transform;
 template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
 template <typename _Scalar, int _AmbientDim> class Hyperplane;
@@ -246,6 +246,7 @@ template<typename Scalar,int Dim> class Scaling;
 #endif
 
 #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+template<typename Scalar, int Options = AutoAlign> class Quaternion;
 template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
 template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
 template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
diff --git a/Eigen/src/Eigen2Support/Geometry/AlignedBox.h b/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
index cedce218c..1c915be22 100644
--- a/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
+++ b/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
@@ -22,8 +22,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ALIGNEDBOX_H
-#define EIGEN_ALIGNEDBOX_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 /** \geometry_module \ingroup Geometry_Module
   * \nonstableyet
@@ -169,5 +168,3 @@ inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const Vecto
   }
   return dist2;
 }
-
-#endif // EIGEN_ALIGNEDBOX_H
diff --git a/Eigen/src/Eigen2Support/Geometry/All.h b/Eigen/src/Eigen2Support/Geometry/All.h
index a399549fe..7b076806b 100644
--- a/Eigen/src/Eigen2Support/Geometry/All.h
+++ b/Eigen/src/Eigen2Support/Geometry/All.h
@@ -58,6 +58,10 @@
 #define Hyperplane eigen2_Hyperplane
 #define ParametrizedLine eigen2_ParametrizedLine
 
+#define ei_toRotationMatrix eigen2_ei_toRotationMatrix
+#define ei_quaternion_assign_impl eigen2_ei_quaternion_assign_impl
+#define ei_transform_product_impl eigen2_ei_transform_product_impl
+
 #include "RotationBase.h"
 #include "Rotation2D.h"
 #include "Quaternion.h"
@@ -69,6 +73,10 @@
 #include "Hyperplane.h"
 #include "ParametrizedLine.h"
 
+#undef ei_toRotationMatrix
+#undef ei_quaternion_assign_impl
+#undef ei_transform_product_impl
+
 #undef RotationBase
 #undef Rotation2D
 #undef Rotation2Df
diff --git a/Eigen/src/Eigen2Support/Geometry/AngleAxis.h b/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
index d1b784066..f7b2d51e3 100644
--- a/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
+++ b/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ANGLEAXIS_H
-#define EIGEN_ANGLEAXIS_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -224,5 +224,3 @@ AngleAxis<Scalar>::toRotationMatrix(void) const
 
   return res;
 }
-
-#endif // EIGEN_ANGLEAXIS_H
diff --git a/Eigen/src/Eigen2Support/Geometry/Hyperplane.h b/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
index 420b30fe9..81c4f55b1 100644
--- a/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
+++ b/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
@@ -23,8 +23,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_HYPERPLANE_H
-#define EIGEN_HYPERPLANE_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -71,7 +70,7 @@ public:
     : m_coeffs(n.size()+1)
   {
     normal() = n;
-    offset() = -e.dot(n);
+    offset() = -e.eigen2_dot(n);
   }
 
   /** Constructs a plane from its normal \a n and distance to the origin \a d
@@ -92,7 +91,7 @@ public:
   {
     Hyperplane result(p0.size());
     result.normal() = (p1 - p0).unitOrthogonal();
-    result.offset() = -result.normal().dot(p0);
+    result.offset() = -result.normal().eigen2_dot(p0);
     return result;
   }
 
@@ -104,7 +103,7 @@ public:
     EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
     Hyperplane result(p0.size());
     result.normal() = (p2 - p0).cross(p1 - p0).normalized();
-    result.offset() = -result.normal().dot(p0);
+    result.offset() = -result.normal().eigen2_dot(p0);
     return result;
   }
 
@@ -116,7 +115,7 @@ public:
   explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
   {
     normal() = parametrized.direction().unitOrthogonal();
-    offset() = -normal().dot(parametrized.origin());
+    offset() = -normal().eigen2_dot(parametrized.origin());
   }
 
   ~Hyperplane() {}
@@ -133,7 +132,7 @@ public:
   /** \returns the signed distance between the plane \c *this and a point \a p.
     * \sa absDistance()
     */
-  inline Scalar signedDistance(const VectorType& p) const { return p.dot(normal()) + offset(); }
+  inline Scalar signedDistance(const VectorType& p) const { return p.eigen2_dot(normal()) + offset(); }
 
   /** \returns the absolute distance between the plane \c *this and a point \a p.
     * \sa signedDistance()
@@ -231,7 +230,7 @@ public:
                                 TransformTraits traits = Affine)
   {
     transform(t.linear(), traits);
-    offset() -= t.translation().dot(normal());
+    offset() -= t.translation().eigen2_dot(normal());
     return *this;
   }
 
@@ -264,5 +263,3 @@ protected:
 
   Coefficients m_coeffs;
 };
-
-#endif // EIGEN_HYPERPLANE_H
diff --git a/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h b/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
index d48f44a79..411c4b570 100644
--- a/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
+++ b/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
@@ -23,8 +23,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_PARAMETRIZEDLINE_H
-#define EIGEN_PARAMETRIZEDLINE_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -85,7 +85,7 @@ public:
   RealScalar squaredDistance(const VectorType& p) const
   {
     VectorType diff = p-origin();
-    return (diff - diff.dot(direction())* direction()).squaredNorm();
+    return (diff - diff.eigen2_dot(direction())* direction()).squaredNorm();
   }
   /** \returns the distance of a point \a p to its projection onto the line \c *this.
     * \sa squaredDistance()
@@ -94,7 +94,7 @@ public:
 
   /** \returns the projection of a point \a p onto the line \c *this. */
   VectorType projection(const VectorType& p) const
-  { return origin() + (p-origin()).dot(direction()) * direction(); }
+  { return origin() + (p-origin()).eigen2_dot(direction()) * direction(); }
 
   Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
 
@@ -148,8 +148,6 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane
 template <typename _Scalar, int _AmbientDim>
 inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
 {
-  return -(hyperplane.offset()+origin().dot(hyperplane.normal()))
-          /(direction().dot(hyperplane.normal()));
+  return -(hyperplane.offset()+origin().eigen2_dot(hyperplane.normal()))
+          /(direction().eigen2_dot(hyperplane.normal()));
 }
-
-#endif // EIGEN_PARAMETRIZEDLINE_H
diff --git a/Eigen/src/Eigen2Support/Geometry/Quaternion.h b/Eigen/src/Eigen2Support/Geometry/Quaternion.h
index c81a3f92a..a75fa42ae 100644
--- a/Eigen/src/Eigen2Support/Geometry/Quaternion.h
+++ b/Eigen/src/Eigen2Support/Geometry/Quaternion.h
@@ -22,8 +22,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_QUATERNION_H
-#define EIGEN_QUATERNION_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 template<typename Other,
          int OtherRows=Other::RowsAtCompileTime,
@@ -172,7 +171,7 @@ public:
     * corresponds to the cosine of half the angle between the two rotations.
     * \sa angularDistance()
     */
-  inline Scalar dot(const Quaternion& other) const { return m_coeffs.dot(other.m_coeffs); }
+  inline Scalar eigen2_dot(const Quaternion& other) const { return m_coeffs.eigen2_dot(other.m_coeffs); }
 
   inline Scalar angularDistance(const Quaternion& other) const;
 
@@ -353,7 +352,7 @@ inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBas
 {
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
-  Scalar c = v0.dot(v1);
+  Scalar c = v0.eigen2_dot(v1);
 
   // if dot == 1, vectors are the same
   if (ei_isApprox(c,Scalar(1)))
@@ -412,12 +411,12 @@ inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
 }
 
 /** \returns the angle (in radian) between two rotations
-  * \sa dot()
+  * \sa eigen2_dot()
   */
 template <typename Scalar>
 inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
 {
-  double d = ei_abs(this->dot(other));
+  double d = ei_abs(this->eigen2_dot(other));
   if (d>=1.0)
     return 0;
   return Scalar(2) * std::acos(d);
@@ -430,7 +429,7 @@ template <typename Scalar>
 Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
 {
   static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
-  Scalar d = this->dot(other);
+  Scalar d = this->eigen2_dot(other);
   Scalar absD = ei_abs(d);
 
   Scalar scale0;
@@ -505,5 +504,3 @@ struct ei_quaternion_assign_impl<Other,4,1>
     q.coeffs() = vec;
   }
 };
-
-#endif // EIGEN_QUATERNION_H
diff --git a/Eigen/src/Eigen2Support/Geometry/Rotation2D.h b/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
index dfa60d0b3..ee7c80e7e 100644
--- a/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
+++ b/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ROTATION2D_H
-#define EIGEN_ROTATION2D_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -155,5 +155,3 @@ Rotation2D<Scalar>::toRotationMatrix(void) const
   Scalar cosA = ei_cos(m_angle);
   return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
 }
-
-#endif // EIGEN_ROTATION2D_H
diff --git a/Eigen/src/Eigen2Support/Geometry/RotationBase.h b/Eigen/src/Eigen2Support/Geometry/RotationBase.h
index 5fec0f18d..2f494f198 100644
--- a/Eigen/src/Eigen2Support/Geometry/RotationBase.h
+++ b/Eigen/src/Eigen2Support/Geometry/RotationBase.h
@@ -22,8 +22,7 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_ROTATIONBASE_H
-#define EIGEN_ROTATIONBASE_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
 // this file aims to contains the various representations of rotation/orientation
 // in 2D and 3D space excepted Matrix and Quaternion.
@@ -133,5 +132,3 @@ inline static const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBa
     YOU_MADE_A_PROGRAMMING_MISTAKE)
   return mat;
 }
-
-#endif // EIGEN_ROTATIONBASE_H
diff --git a/Eigen/src/Eigen2Support/Geometry/Scaling.h b/Eigen/src/Eigen2Support/Geometry/Scaling.h
index 747ce1d97..108e6d7d5 100644
--- a/Eigen/src/Eigen2Support/Geometry/Scaling.h
+++ b/Eigen/src/Eigen2Support/Geometry/Scaling.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_SCALING_H
-#define EIGEN_SCALING_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -177,5 +177,3 @@ Scaling<Scalar,Dim>::operator* (const TransformType& t) const
   res.prescale(m_coeffs);
   return res;
 }
-
-#endif // EIGEN_SCALING_H
diff --git a/Eigen/src/Eigen2Support/Geometry/Transform.h b/Eigen/src/Eigen2Support/Geometry/Transform.h
index 1374a77dd..88956c86c 100644
--- a/Eigen/src/Eigen2Support/Geometry/Transform.h
+++ b/Eigen/src/Eigen2Support/Geometry/Transform.h
@@ -23,8 +23,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_TRANSFORM_H
-#define EIGEN_TRANSFORM_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 // Note that we have to pass Dim and HDim because it is not allowed to use a template
 // parameter to define a template specialization. To be more precise, in the following
@@ -796,5 +796,3 @@ struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
   { return ((tr.linear() * other) + tr.translation())
           * (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
 };
-
-#endif // EIGEN_TRANSFORM_H
diff --git a/Eigen/src/Eigen2Support/Geometry/Translation.h b/Eigen/src/Eigen2Support/Geometry/Translation.h
index ca5a9115f..e651e3102 100644
--- a/Eigen/src/Eigen2Support/Geometry/Translation.h
+++ b/Eigen/src/Eigen2Support/Geometry/Translation.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_TRANSLATION_H
-#define EIGEN_TRANSLATION_H
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -194,5 +194,3 @@ Translation<Scalar,Dim>::operator* (const TransformType& t) const
   res.pretranslate(m_coeffs);
   return res;
 }
-
-#endif // EIGEN_TRANSLATION_H
diff --git a/Eigen/src/Eigen2Support/LeastSquares.h b/Eigen/src/Eigen2Support/LeastSquares.h
index b2595ede1..4b62ffa92 100644
--- a/Eigen/src/Eigen2Support/LeastSquares.h
+++ b/Eigen/src/Eigen2Support/LeastSquares.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_LEASTSQUARES_H
-#define EIGEN_LEASTSQUARES_H
+#ifndef EIGEN2_LEASTSQUARES_H
+#define EIGEN2_LEASTSQUARES_H
 
 /** \ingroup LeastSquares_Module
   *
@@ -179,4 +179,4 @@ void fitHyperplane(int numPoints,
 }
 
 
-#endif // EIGEN_LEASTSQUARES_H
+#endif // EIGEN2_LEASTSQUARES_H
diff --git a/Eigen/src/Eigen2Support/SVD.h b/Eigen/src/Eigen2Support/SVD.h
index dfb43ac7c..528a0dcd0 100644
--- a/Eigen/src/Eigen2Support/SVD.h
+++ b/Eigen/src/Eigen2Support/SVD.h
@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#ifndef EIGEN_SVD_H
-#define EIGEN_SVD_H
+#ifndef EIGEN2_SVD_H
+#define EIGEN2_SVD_H
 
 /** \ingroup SVD_Module
   * \nonstableyet
@@ -150,7 +150,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       if ((k < nct) && (m_sigma[k] != 0.0))
       {
         // Apply the transformation.
-        Scalar t = matA.col(k).end(m-k).dot(matA.col(j).end(m-k)); // FIXME dot product or cwise prod + .sum() ??
+        Scalar t = matA.col(k).end(m-k).eigen2_dot(matA.col(j).end(m-k)); // FIXME dot product or cwise prod + .sum() ??
         t = -t/matA(k,k);
         matA.col(j).end(m-k) += t * matA.col(k).end(m-k);
       }
@@ -216,7 +216,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       {
         for (j = k+1; j < nu; ++j)
         {
-          Scalar t = m_matU.col(k).end(m-k).dot(m_matU.col(j).end(m-k)); // FIXME is it really a dot product we want ?
+          Scalar t = m_matU.col(k).end(m-k).eigen2_dot(m_matU.col(j).end(m-k)); // FIXME is it really a dot product we want ?
           t = -t/m_matU(k,k);
           m_matU.col(j).end(m-k) += t * m_matU.col(k).end(m-k);
         }
@@ -242,7 +242,7 @@ void SVD<MatrixType>::compute(const MatrixType& matrix)
       {
         for (j = k+1; j < nu; ++j)
         {
-          Scalar t = m_matV.col(k).end(n-k-1).dot(m_matV.col(j).end(n-k-1)); // FIXME is it really a dot product we want ?
+          Scalar t = m_matV.col(k).end(n-k-1).eigen2_dot(m_matV.col(j).end(n-k-1)); // FIXME is it really a dot product we want ?
           t = -t/m_matV(k+1,k);
           m_matV.col(j).end(n-k-1) += t * m_matV.col(k).end(n-k-1);
         }
@@ -646,4 +646,4 @@ MatrixBase<Derived>::svd() const
   return SVD<PlainObject>(derived());
 }
 
-#endif // EIGEN_SVD_H
+#endif // EIGEN2_SVD_H