diff options
| -rw-r--r-- | Eigen/src/Geometry/Homogeneous.h | 12 | ||||
| -rw-r--r-- | test/geo_homogeneous.cpp | 2 |
2 files changed, 14 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/Homogeneous.h b/Eigen/src/Geometry/Homogeneous.h index 4e2213b33..a23068c8d 100644 --- a/Eigen/src/Geometry/Homogeneous.h +++ b/Eigen/src/Geometry/Homogeneous.h @@ -402,6 +402,18 @@ struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, Homog } }; +// TODO: the following specialization is to address a regression from 3.2 to 3.3 +// In the future, this path should be optimized. +template<typename Lhs, typename RhsArg, int ProductTag> +struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag> +{ + template<typename Dest> + static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs) + { + dst.noalias() = lhs * rhs.eval(); + } +}; + template<typename Lhs,typename Rhs> struct homogeneous_left_product_refactoring_helper { diff --git a/test/geo_homogeneous.cpp b/test/geo_homogeneous.cpp index 305794cdf..2187c7bf9 100644 --- a/test/geo_homogeneous.cpp +++ b/test/geo_homogeneous.cpp @@ -111,6 +111,8 @@ template<typename Scalar,int Size> void homogeneous(void) VERIFY_IS_APPROX( (v0.transpose().homogeneous() .lazyProduct( t2 )).hnormalized(), (v0.transpose().homogeneous()*t2).hnormalized() ); VERIFY_IS_APPROX( (pts.transpose().rowwise().homogeneous() .lazyProduct( t2 )).rowwise().hnormalized(), (pts1.transpose()*t2).rowwise().hnormalized() ); + + VERIFY_IS_APPROX( (t2.template triangularView<Lower>() * v0.homogeneous()).eval(), (t2.template triangularView<Lower>()*hv0) ); } void test_geo_homogeneous() |