diff options
| -rw-r--r-- | Eigen/src/Geometry/Scaling.h | 27 | ||||
| -rw-r--r-- | test/geo_transformations.cpp | 11 |
2 files changed, 36 insertions, 2 deletions
diff --git a/Eigen/src/Geometry/Scaling.h b/Eigen/src/Geometry/Scaling.h index 2ff8eaba3..27bbec8cd 100644 --- a/Eigen/src/Geometry/Scaling.h +++ b/Eigen/src/Geometry/Scaling.h @@ -72,8 +72,8 @@ public: inline Transform<Scalar,Dim> operator* (const Translation<Scalar,Dim>& t) const; /** Concatenates a uniform scaling and an affine transformation */ - template<int Dim> - inline Transform<Scalar,Dim> operator* (const Transform<Scalar,Dim>& t) const; + template<int Dim, int Mode> + inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim, Mode>& t) const; /** Concatenates a uniform scaling and a linear transformation matrix */ // TODO returns an expression @@ -156,4 +156,27 @@ typedef DiagonalMatrix<float, 3> AlignedScaling3f; typedef DiagonalMatrix<double,3> AlignedScaling3d; //@} +template<typename Scalar> +template<int Dim> +inline Transform<Scalar,Dim> +UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const +{ + Transform<Scalar,Dim> res; + res.matrix().setZero(); + res.linear().diagonal().fill(factor()); + res.translation() = factor() * t.vector(); + res(Dim,Dim) = Scalar(1); + return res; +} + +template<typename Scalar> +template<int Dim,int Mode> +inline Transform<Scalar,Dim,Mode> +UniformScaling<Scalar>::operator* (const Transform<Scalar,Dim, Mode>& t) const +{ + Transform<Scalar,Dim> res = t; + res.prescale(factor()); + return res; +} + #endif // EIGEN_SCALING_H diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index 895fe0f08..b1a50f6b2 100644 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -59,6 +59,7 @@ template<typename Scalar, int Mode> void transformations(void) Matrix3 matrot1, m; Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); + Scalar s0 = ei_random<Scalar>(); VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0); VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0); @@ -234,6 +235,16 @@ template<typename Scalar, int Mode> void transformations(void) t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0)); VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + t0.setIdentity(); + t0.scale(s0).translate(v0); + t1 = Scaling(s0) * Translation3(v0); + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + t0.prescale(s0); + t1 = Scaling(s0) * t1; + VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); + + t0.setIdentity(); t0.prerotate(q1).prescale(v0).pretranslate(v0); // translation * aligned scaling and transformation * mat |