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-rw-r--r--Eigen/src/Geometry/AlignedBox.h2
-rw-r--r--Eigen/src/Geometry/Hyperplane.h3
-rw-r--r--Eigen/src/Geometry/ParametrizedLine.h39
-rw-r--r--Eigen/src/Geometry/Transform.h14
4 files changed, 49 insertions, 9 deletions
diff --git a/Eigen/src/Geometry/AlignedBox.h b/Eigen/src/Geometry/AlignedBox.h
index 066eae4f9..c902d8f0a 100644
--- a/Eigen/src/Geometry/AlignedBox.h
+++ b/Eigen/src/Geometry/AlignedBox.h
@@ -63,7 +63,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
/** Default constructor initializing a null box. */
EIGEN_DEVICE_FUNC inline AlignedBox()
- { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
+ { if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=Dynamic)) setEmpty(); }
/** Constructs a null box with \a _dim the dimension of the ambient space. */
EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h
index 07f2659b2..05929b299 100644
--- a/Eigen/src/Geometry/Hyperplane.h
+++ b/Eigen/src/Geometry/Hyperplane.h
@@ -217,7 +217,10 @@ public:
EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
{
if (traits==Affine)
+ {
normal() = mat.inverse().transpose() * normal();
+ m_coeffs /= normal().norm();
+ }
else if (traits==Isometry)
normal() = mat * normal();
else
diff --git a/Eigen/src/Geometry/ParametrizedLine.h b/Eigen/src/Geometry/ParametrizedLine.h
index 1e985d8cd..3929ca87f 100644
--- a/Eigen/src/Geometry/ParametrizedLine.h
+++ b/Eigen/src/Geometry/ParametrizedLine.h
@@ -104,7 +104,44 @@ public:
template <int OtherOptions>
EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
- /** \returns \c *this with scalar type casted to \a NewScalarType
+ /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
+ *
+ * \param mat the Dim x Dim transformation matrix
+ * \param traits specifies whether the matrix \a mat represents an #Isometry
+ * or a more generic #Affine transformation. The default is #Affine.
+ */
+ template<typename XprType>
+ EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
+ {
+ if (traits==Affine)
+ direction() = (mat * direction()).normalized();
+ else if (traits==Isometry)
+ direction() = mat * direction();
+ else
+ {
+ eigen_assert(0 && "invalid traits value in ParametrizedLine::transform()");
+ }
+ origin() = mat * origin();
+ return *this;
+ }
+
+ /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
+ *
+ * \param t the transformation of dimension Dim
+ * \param traits specifies whether the transformation \a t represents an #Isometry
+ * or a more generic #Affine transformation. The default is #Affine.
+ * Other kind of transformations are not supported.
+ */
+ template<int TrOptions>
+ EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
+ TransformTraits traits = Affine)
+ {
+ transform(t.linear(), traits);
+ origin() += t.translation();
+ return *this;
+ }
+
+/** \returns \c *this with scalar type casted to \a NewScalarType
*
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
* then this function smartly returns a const reference to \c *this.
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 3f31ee45d..2d36dfadf 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -335,7 +335,7 @@ public:
OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
};
- if(ModeIsAffineCompact == OtherModeIsAffineCompact)
+ if(EIGEN_CONST_CONDITIONAL(ModeIsAffineCompact == OtherModeIsAffineCompact))
{
// We need the block expression because the code is compiled for all
// combinations of transformations and will trigger a compile time error
@@ -343,7 +343,7 @@ public:
m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
makeAffine();
}
- else if(OtherModeIsAffineCompact)
+ else if(EIGEN_CONST_CONDITIONAL(OtherModeIsAffineCompact))
{
typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
@@ -481,7 +481,7 @@ public:
TransformTimeDiagonalReturnType res;
res.linear().noalias() = a*b.linear();
res.translation().noalias() = a*b.translation();
- if (Mode!=int(AffineCompact))
+ if (EIGEN_CONST_CONDITIONAL(Mode!=int(AffineCompact)))
res.matrix().row(Dim) = b.matrix().row(Dim);
return res;
}
@@ -755,7 +755,7 @@ template<typename Scalar, int Dim, int Mode,int Options>
Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
{
EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
- if (Mode == int(AffineCompact))
+ if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
m_matrix << other.m11(), other.m21(), other.dx(),
other.m12(), other.m22(), other.dy();
else
@@ -801,7 +801,7 @@ Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator
{
check_template_params();
EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
- if (Mode == int(AffineCompact))
+ if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
m_matrix << other.m11(), other.m21(), other.dx(),
other.m12(), other.m22(), other.dy();
else
@@ -819,7 +819,7 @@ template<typename Scalar, int Dim, int Mode, int Options>
QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
{
EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
- if (Mode == int(AffineCompact))
+ if (EIGEN_CONST_CONDITIONAL(Mode == int(AffineCompact)))
return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
m_matrix.coeff(0,1), m_matrix.coeff(1,1),
m_matrix.coeff(0,2), m_matrix.coeff(1,2));
@@ -912,7 +912,7 @@ EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
- if(int(Mode)==int(Projective))
+ if(EIGEN_CONST_CONDITIONAL(int(Mode)==int(Projective)))
affine() += other * m_matrix.row(Dim);
else
translation() += other;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-01 20:40:53 +0000