diff options
| -rw-r--r-- | Eigen/src/Geometry/Transform.h | 35 | ||||
| -rwxr-xr-x | test/geo_transformations.cpp | 4 |
2 files changed, 34 insertions, 5 deletions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index 3670767aa..3090351a0 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -605,7 +605,9 @@ public: template<typename Derived> EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const; - EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const; + typedef typename internal::conditional<int(Mode)==Isometry,ConstLinearPart,const LinearMatrixType>::type RotationReturnType; + EIGEN_DEVICE_FUNC RotationReturnType rotation() const; + template<typename RotationMatrixType, typename ScalingMatrixType> EIGEN_DEVICE_FUNC void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const; @@ -1049,20 +1051,43 @@ EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim *** Special functions *** ************************/ +namespace internal { +template<int Mode> struct transform_rotation_impl { + template<typename TransformType> + EIGEN_DEVICE_FUNC static inline + const typename TransformType::LinearMatrixType run(const TransformType& t) + { + typedef typename TransformType::LinearMatrixType LinearMatrixType; + LinearMatrixType result; + t.computeRotationScaling(&result, (LinearMatrixType*)0); + return result; + } +}; +template<> struct transform_rotation_impl<Isometry> { + template<typename TransformType> + EIGEN_DEVICE_FUNC static inline + typename TransformType::ConstLinearPart run(const TransformType& t) + { + return t.linear(); + } +}; +} /** \returns the rotation part of the transformation * + * If Mode==Isometry, then this method is an alias for linear(), + * otherwise it calls computeRotationScaling() to extract the rotation + * through a SVD decomposition. * * \svd_module * * \sa computeRotationScaling(), computeScalingRotation(), class SVD */ template<typename Scalar, int Dim, int Mode, int Options> -EIGEN_DEVICE_FUNC const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType +EIGEN_DEVICE_FUNC +typename Transform<Scalar,Dim,Mode,Options>::RotationReturnType Transform<Scalar,Dim,Mode,Options>::rotation() const { - LinearMatrixType result; - computeRotationScaling(&result, (LinearMatrixType*)0); - return result; + return internal::transform_rotation_impl<Mode>::run(*this); } diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index 25f1d9aa0..c72267955 100755 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -666,6 +666,10 @@ template<typename Scalar, int Mode, int Options> void transformations_no_scale() VERIFY((m3 * m3.inverse()).isIdentity(test_precision<Scalar>())); // Verify implicit last row is initialized. VERIFY_IS_APPROX(Vector4(m3.row(3)), Vector4(0.0, 0.0, 0.0, 1.0)); + + VERIFY_IS_APPROX(t3.rotation(), t3.linear()); + if(Mode==Isometry) + VERIFY(t3.rotation().data()==t3.linear().data()); } EIGEN_DECLARE_TEST(geo_transformations) |