fix #1 : need to nest by value the affine part in homogeneous product

1 files changed, 20 insertions, 9 deletions

diff --git a/test/geo_homogeneous.cpp b/test/geo_homogeneous.cpp
index 5deb0d530..bf568bb03 100644
--- a/test/geo_homogeneous.cpp
+++ b/test/geo_homogeneous.cpp
@@ -33,10 +33,10 @@ template<typename Scalar,int Size> void homogeneous(void)
 
   typedef Matrix<Scalar,Size,Size> MatrixType;
   typedef Matrix<Scalar,Size,1> VectorType;
-  
+
   typedef Matrix<Scalar,Size+1,Size> HMatrixType;
   typedef Matrix<Scalar,Size+1,1> HVectorType;
-  
+
   typedef Matrix<Scalar,Size,Size+1>   T1MatrixType;
   typedef Matrix<Scalar,Size+1,Size+1> T2MatrixType;
   typedef Matrix<Scalar,Size+1,Size> T3MatrixType;
@@ -51,17 +51,17 @@ template<typename Scalar,int Size> void homogeneous(void)
 
   HVectorType hv0 = HVectorType::Random(),
               hv1 = HVectorType::Random();
-  
+
   MatrixType m0 = MatrixType::Random(),
              m1 = MatrixType::Random();
-  
+
   HMatrixType hm0 = HMatrixType::Random(),
               hm1 = HMatrixType::Random();
 
   hv0 << v0, 1;
   VERIFY_IS_APPROX(v0.homogeneous(), hv0);
   VERIFY_IS_APPROX(v0, hv0.hnormalized());
-  
+
   hm0 << m0, ones.transpose();
   VERIFY_IS_APPROX(m0.colwise().homogeneous(), hm0);
   VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
@@ -69,16 +69,16 @@ template<typename Scalar,int Size> void homogeneous(void)
   for(int j=0; j<Size; ++j)
     m0.col(j) = hm0.col(j).start(Size) / hm0(Size,j);
   VERIFY_IS_APPROX(m0, hm0.colwise().hnormalized());
-  
+
   T1MatrixType t1 = T1MatrixType::Random();
   VERIFY_IS_APPROX(t1 * (v0.homogeneous().eval()), t1 * v0.homogeneous());
   VERIFY_IS_APPROX(t1 * (m0.colwise().homogeneous().eval()), t1 * m0.colwise().homogeneous());
-  
+
   T2MatrixType t2 = T2MatrixType::Random();
   VERIFY_IS_APPROX(t2 * (v0.homogeneous().eval()), t2 * v0.homogeneous());
   VERIFY_IS_APPROX(t2 * (m0.colwise().homogeneous().eval()), t2 * m0.colwise().homogeneous());
-  
-  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2, 
+
+  VERIFY_IS_APPROX((v0.transpose().rowwise().homogeneous().eval()) * t2,
                     v0.transpose().rowwise().homogeneous() * t2);
   VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t2,
                     m0.transpose().rowwise().homogeneous() * t2);
@@ -88,6 +88,17 @@ template<typename Scalar,int Size> void homogeneous(void)
                     v0.transpose().rowwise().homogeneous() * t3);
   VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
                     m0.transpose().rowwise().homogeneous() * t3);
+
+  // test product with a Transform object
+  Transform<Scalar, Size, Affine> Rt;
+  Matrix<Scalar, Size, Dynamic> pts, Rt_pts1;
+
+  Rt.setIdentity();
+  pts.setRandom(Size,5);
+
+  Rt_pts1 = Rt * pts.colwise().homogeneous();
+  std::cerr << (Rt_pts1 - pts).sum() << "\n";
+  VERIFY_IS_MUCH_SMALLER_THAN( (Rt_pts1 - pts).sum(), Scalar(1));
 }
 
 void test_geo_homogeneous()