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-rw-r--r--Eigen/src/Core/CwiseNullaryOp.h8
-rw-r--r--Eigen/src/Core/DiagonalMatrix.h2
-rw-r--r--Eigen/src/Core/Dot.h6
-rw-r--r--Eigen/src/Core/Sum.h6
-rw-r--r--Eigen/src/Core/util/Constants.h2
-rw-r--r--Eigen/src/Geometry/AngleAxis.h4
-rw-r--r--Eigen/src/Geometry/Hyperplane.h37
-rw-r--r--Eigen/src/Geometry/Quaternion.h3
-rw-r--r--Eigen/src/Geometry/Rotation2D.h4
-rw-r--r--Eigen/src/Geometry/Transform.h5
-rw-r--r--Eigen/src/LU/Inverse.h2
11 files changed, 54 insertions, 25 deletions
diff --git a/Eigen/src/Core/CwiseNullaryOp.h b/Eigen/src/Core/CwiseNullaryOp.h
index caa86fa97..005340213 100644
--- a/Eigen/src/Core/CwiseNullaryOp.h
+++ b/Eigen/src/Core/CwiseNullaryOp.h
@@ -234,7 +234,7 @@ MatrixBase<Derived>::Constant(const Scalar& value)
template<typename Derived>
bool MatrixBase<Derived>::isApproxToConstant
-(const Scalar& value, typename NumTraits<Scalar>::Real prec) const
+(const Scalar& value, RealScalar prec) const
{
for(int j = 0; j < cols(); j++)
for(int i = 0; i < rows(); i++)
@@ -328,7 +328,7 @@ MatrixBase<Derived>::Zero()
*/
template<typename Derived>
bool MatrixBase<Derived>::isZero
-(typename NumTraits<Scalar>::Real prec) const
+(RealScalar prec) const
{
for(int j = 0; j < cols(); j++)
for(int i = 0; i < rows(); i++)
@@ -425,7 +425,7 @@ MatrixBase<Derived>::Ones()
*/
template<typename Derived>
bool MatrixBase<Derived>::isOnes
-(typename NumTraits<Scalar>::Real prec) const
+(RealScalar prec) const
{
return isApproxToConstant(Scalar(1), prec);
}
@@ -497,7 +497,7 @@ MatrixBase<Derived>::Identity()
*/
template<typename Derived>
bool MatrixBase<Derived>::isIdentity
-(typename NumTraits<Scalar>::Real prec) const
+(RealScalar prec) const
{
for(int j = 0; j < cols(); j++)
{
diff --git a/Eigen/src/Core/DiagonalMatrix.h b/Eigen/src/Core/DiagonalMatrix.h
index 06507dc68..4ea21c835 100644
--- a/Eigen/src/Core/DiagonalMatrix.h
+++ b/Eigen/src/Core/DiagonalMatrix.h
@@ -108,7 +108,7 @@ MatrixBase<Derived>::asDiagonal() const
*/
template<typename Derived>
bool MatrixBase<Derived>::isDiagonal
-(typename NumTraits<Scalar>::Real prec) const
+(RealScalar prec) const
{
if(cols() != rows()) return false;
RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
diff --git a/Eigen/src/Core/Dot.h b/Eigen/src/Core/Dot.h
index a3e1229f8..4a729aaea 100644
--- a/Eigen/src/Core/Dot.h
+++ b/Eigen/src/Core/Dot.h
@@ -177,8 +177,10 @@ struct ei_dot_impl<Derived1, Derived2, LinearVectorization, NoUnrolling>
const int size = v1.size();
const int packetSize = ei_packet_traits<Scalar>::size;
const int alignedSize = (size/packetSize)*packetSize;
- const int alignment1 = (Derived1::Flags & AlignedBit) ? Aligned : Unaligned;
- const int alignment2 = (Derived2::Flags & AlignedBit) ? Aligned : Unaligned;
+ enum {
+ alignment1 = (Derived1::Flags & AlignedBit) ? Aligned : Unaligned,
+ alignment2 = (Derived2::Flags & AlignedBit) ? Aligned : Unaligned
+ };
Scalar res;
// do the vectorizable part of the sum
diff --git a/Eigen/src/Core/Sum.h b/Eigen/src/Core/Sum.h
index 3b073b95e..12a84e3f1 100644
--- a/Eigen/src/Core/Sum.h
+++ b/Eigen/src/Core/Sum.h
@@ -195,8 +195,10 @@ struct ei_sum_impl<Derived, LinearVectorization, NoUnrolling>
|| !(Derived::Flags & DirectAccessBit)
? 0
: ei_alignmentOffset(&mat.const_cast_derived().coeffRef(0), size);
- const int alignment = (Derived::Flags & DirectAccessBit) || (Derived::Flags & AlignedBit)
- ? Aligned : Unaligned;
+ enum {
+ alignment = (Derived::Flags & DirectAccessBit) || (Derived::Flags & AlignedBit)
+ ? Aligned : Unaligned
+ };
const int alignedSize = ((size-alignedStart)/packetSize)*packetSize;
const int alignedEnd = alignedStart + alignedSize;
Scalar res;
diff --git a/Eigen/src/Core/util/Constants.h b/Eigen/src/Core/util/Constants.h
index 7aa626f95..9576ac6d8 100644
--- a/Eigen/src/Core/util/Constants.h
+++ b/Eigen/src/Core/util/Constants.h
@@ -28,7 +28,7 @@
const int Dynamic = 10000;
-/** \defgroup flags
+/** \defgroup flags flags
* \ingroup Core_Module
*
* These are the possible bits which can be OR'ed to constitute the flags of a matrix or
diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h
index 0b4fd03d0..662ae95fb 100644
--- a/Eigen/src/Geometry/AngleAxis.h
+++ b/Eigen/src/Geometry/AngleAxis.h
@@ -60,9 +60,11 @@ template<typename _Scalar>
class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
{
typedef RotationBase<AngleAxis<_Scalar>,3> Base;
- using Base::operator*;
public:
+
+ using Base::operator*;
+
enum { Dim = 3 };
/** the scalar type of the coefficients */
typedef _Scalar Scalar;
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h
index 65700cc32..5a8657f31 100644
--- a/Eigen/src/Geometry/Hyperplane.h
+++ b/Eigen/src/Geometry/Hyperplane.h
@@ -48,7 +48,7 @@ class ParametrizedLine
ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
- ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
+ explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
~ParametrizedLine() {}
@@ -227,22 +227,41 @@ class Hyperplane
invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
}
}
-
-#if 0
+
template<typename XprType>
- inline Hyperplane operator* (const MatrixBase<XprType>& mat) const
- { return Hyperplane(mat.inverse().transpose() * normal(), offset()); }
+ inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = GenericAffine)
+ {
+ if (traits==GenericAffine)
+ normal() = mat.inverse().transpose() * normal();
+ else if (traits==NoShear)
+ normal() = (mat.colwise().norm2().cwise().inverse().eval().asDiagonal()
+ * mat.transpose()).transpose() * normal();
+ else if (traits==NoScaling)
+ normal() = mat * normal();
+ else
+ {
+ ei_assert("invalid traits value in Hyperplane::transform()");
+ }
+ return *this;
+ }
- template<typename XprType>
- inline Hyperplane& operator*= (const MatrixBase<XprType>& mat) const
- { normal() = mat.inverse().transpose() * normal(); return *this; }
-#endif
+ inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
+ TransformTraits traits = GenericAffine)
+ {
+ transform(t.linear(), traits);
+ offset() -= t.translation().dot(normal());
+ return *this;
+ }
protected:
Coefficients m_coeffs;
};
+/** Construct a parametrized line from a 2D hyperplane
+ *
+ * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
+ */
template <typename _Scalar, int _AmbientDim>
ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
{
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 8fbc645ea..a2cc785c7 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -61,12 +61,13 @@ template<typename _Scalar>
class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
{
typedef RotationBase<Quaternion<_Scalar>,3> Base;
- using Base::operator*;
typedef Matrix<_Scalar, 4, 1> Coefficients;
Coefficients m_coeffs;
public:
+ using Base::operator*;
+
/** the scalar type of the coefficients */
typedef _Scalar Scalar;
diff --git a/Eigen/src/Geometry/Rotation2D.h b/Eigen/src/Geometry/Rotation2D.h
index 1c3cbc05d..c0bda5f69 100644
--- a/Eigen/src/Geometry/Rotation2D.h
+++ b/Eigen/src/Geometry/Rotation2D.h
@@ -50,9 +50,11 @@ template<typename _Scalar>
class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
{
typedef RotationBase<Rotation2D<_Scalar>,2> Base;
- using Base::operator*;
public:
+
+ using Base::operator*;
+
enum { Dim = 2 };
/** the scalar type of the coefficients */
typedef _Scalar Scalar;
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index a857eff53..b003f20ed 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -539,10 +539,11 @@ Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
}
else if (traits == NoScaling) // though that's stupid let's handle it !
return linear();
- else {
+ else
+ {
ei_assert("invalid traits value in Transform::inverse()");
+ return LinearMatrixType();
}
- return LinearMatrixType();
}
/** Convenient method to set \c *this from a position, orientation and scale
diff --git a/Eigen/src/LU/Inverse.h b/Eigen/src/LU/Inverse.h
index f2bf98f8a..5a52086e6 100644
--- a/Eigen/src/LU/Inverse.h
+++ b/Eigen/src/LU/Inverse.h
@@ -216,7 +216,7 @@ struct ei_compute_inverse<MatrixType, 4>
* \sa inverse()
*/
template<typename Derived>
-inline void MatrixBase<Derived>::computeInverse(typename MatrixBase<Derived>::EvalType *result) const
+inline void MatrixBase<Derived>::computeInverse(EvalType *result) const
{
typedef typename ei_eval<Derived>::type MatrixType;
ei_assert(rows() == cols());
generated by cgit v1.2.3 (git 2.39.1) at 2024-06-29 20:27:12 +0000