aboutsummaryrefslogtreecommitdiffhomepage
path: root/Eigen
diff options
context:
space:
mode:
Diffstat (limited to 'Eigen')
-rw-r--r--Eigen/src/Core/MapBase.h4
-rw-r--r--Eigen/src/Core/util/ForwardDeclarations.h2
-rw-r--r--Eigen/src/Core/util/StaticAssert.h2
-rw-r--r--Eigen/src/Geometry/Hyperplane.h2
-rw-r--r--Eigen/src/Geometry/RotationBase.h4
-rw-r--r--Eigen/src/Geometry/Scaling.h6
-rw-r--r--Eigen/src/Geometry/Transform.h99
-rw-r--r--Eigen/src/Geometry/Translation.h2
8 files changed, 63 insertions, 58 deletions
diff --git a/Eigen/src/Core/MapBase.h b/Eigen/src/Core/MapBase.h
index 3aa08aa8b..f7f9ccdb7 100644
--- a/Eigen/src/Core/MapBase.h
+++ b/Eigen/src/Core/MapBase.h
@@ -189,8 +189,8 @@ template<typename Derived> class MapBase
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(ei_traits<Derived>::Flags&PacketAccessBit,
ei_inner_stride_at_compile_time<Derived>::ret==1),
PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
- ei_assert(EIGEN_IMPLIES(ei_traits<Derived>::Flags&AlignedBit, (size_t(m_data)&(sizeof(Scalar)*ei_packet_traits<Scalar>::size-1))==0)
- && "data is not aligned");
+ ei_assert(EIGEN_IMPLIES(ei_traits<Derived>::Flags&AlignedBit, (size_t(m_data) % 16 == 0))
+ && "data is not aligned");
}
const Scalar* EIGEN_RESTRICT m_data;
diff --git a/Eigen/src/Core/util/ForwardDeclarations.h b/Eigen/src/Core/util/ForwardDeclarations.h
index 423aa110e..84fa52ffb 100644
--- a/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/Eigen/src/Core/util/ForwardDeclarations.h
@@ -180,7 +180,7 @@ template<typename Derived> class QuaternionBase;
template<typename Scalar> class Quaternion;
template<typename Scalar> class Rotation2D;
template<typename Scalar> class AngleAxis;
-template<typename Scalar,int Dim,int Mode=Projective> class Transform;
+template<typename Scalar,int Dim,int Mode> class Transform;
template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
template <typename _Scalar, int _AmbientDim> class Hyperplane;
template<typename Scalar,int Dim> class Translation;
diff --git a/Eigen/src/Core/util/StaticAssert.h b/Eigen/src/Core/util/StaticAssert.h
index 23fb84c6c..eb7f3ef50 100644
--- a/Eigen/src/Core/util/StaticAssert.h
+++ b/Eigen/src/Core/util/StaticAssert.h
@@ -90,7 +90,7 @@
PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1,
THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS,
YOU_CANNOT_MIX_ARRAYS_AND_MATRICES,
- YOU_CANT_CONVERT_A_PROJECTIVE_TRANSFORM_INTO_AN_AFFINE_TRANSFORM
+ YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
};
};
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h
index 9a2e878a5..7b7d33a92 100644
--- a/Eigen/src/Geometry/Hyperplane.h
+++ b/Eigen/src/Geometry/Hyperplane.h
@@ -228,7 +228,7 @@ public:
* or a more generic Affine transformation. The default is Affine.
* Other kind of transformations are not supported.
*/
- inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
+ inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine>& t,
TransformTraits traits = Affine)
{
transform(t.linear(), traits);
diff --git a/Eigen/src/Geometry/RotationBase.h b/Eigen/src/Geometry/RotationBase.h
index 4f0eeca20..36f17584f 100644
--- a/Eigen/src/Geometry/RotationBase.h
+++ b/Eigen/src/Geometry/RotationBase.h
@@ -64,8 +64,8 @@ class RotationBase
inline Derived inverse() const { return derived().inverse(); }
/** \returns the concatenation of the rotation \c *this with a translation \a t */
- inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const
- { return toRotationMatrix() * t; }
+ inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
+ { return Transform<Scalar,Dim,Isometry>(*this) * t; }
/** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
diff --git a/Eigen/src/Geometry/Scaling.h b/Eigen/src/Geometry/Scaling.h
index 2bcf48630..05b3e0526 100644
--- a/Eigen/src/Geometry/Scaling.h
+++ b/Eigen/src/Geometry/Scaling.h
@@ -69,7 +69,7 @@ public:
/** Concatenates a uniform scaling and a translation */
template<int Dim>
- inline Transform<Scalar,Dim> operator* (const Translation<Scalar,Dim>& t) const;
+ inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const;
/** Concatenates a uniform scaling and an affine transformation */
template<int Dim, int Mode>
@@ -158,10 +158,10 @@ typedef DiagonalMatrix<double,3> AlignedScaling3d;
template<typename Scalar>
template<int Dim>
-inline Transform<Scalar,Dim>
+inline Transform<Scalar,Dim,Affine>
UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
{
- Transform<Scalar,Dim> res;
+ Transform<Scalar,Dim,Affine> res;
res.matrix().setZero();
res.linear().diagonal().fill(factor());
res.translation() = factor() * t.vector();
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 214b286bd..702e87663 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -26,6 +26,14 @@
#ifndef EIGEN_TRANSFORM_H
#define EIGEN_TRANSFORM_H
+template<typename Transform, typename OtherTransform>
+struct ei_is_any_projective
+{
+ static const bool value =
+ ((int)Transform::Mode == Projective) ||
+ ((int)OtherTransform::Mode == Projective);
+};
+
// Note that we have to pass Dim and HDim because it is not allowed to use a template
// parameter to define a template specialization. To be more precise, in the following
// specializations, it is not allowed to use Dim+1 instead of HDim.
@@ -47,7 +55,10 @@ template< typename Other,
int OtherCols=Other::ColsAtCompileTime>
struct ei_transform_left_product_impl;
-template<typename Lhs,typename Rhs> struct ei_transform_transform_product_impl;
+template<typename Lhs,
+ typename Rhs,
+ bool AnyProjective = ei_is_any_projective<Lhs,Rhs>::value >
+struct ei_transform_transform_product_impl;
template< typename Other,
int Mode,
@@ -243,8 +254,15 @@ public:
template<int OtherMode>
inline Transform(const Transform<Scalar,Dim,OtherMode>& other)
{
+ // prevent conversions as:
+ // Affine | AffineCompact | Isometry = Projective
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Projective), Mode==int(Projective)),
- YOU_CANT_CONVERT_A_PROJECTIVE_TRANSFORM_INTO_AN_AFFINE_TRANSFORM)
+ YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
+
+ // prevent conversions as:
+ // Isometry = Affine | AffineCompact
+ EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
+ YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
enum { ModeIsAffineCompact = Mode == int(AffineCompact),
OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
@@ -252,7 +270,11 @@ public:
if(ModeIsAffineCompact == OtherModeIsAffineCompact)
{
- m_matrix = other.matrix();
+ // We need the block expression because the code is compiled for all
+ // combinations of transformations and will trigger a compile time error
+ // if one tries to assign the matrices directly
+ m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
+ makeAffine();
}
else if(OtherModeIsAffineCompact)
{
@@ -499,15 +521,6 @@ public:
};
/** \ingroup Geometry_Module */
-typedef Transform<float,2> Transform2f;
-/** \ingroup Geometry_Module */
-typedef Transform<float,3> Transform3f;
-/** \ingroup Geometry_Module */
-typedef Transform<double,2> Transform2d;
-/** \ingroup Geometry_Module */
-typedef Transform<double,3> Transform3d;
-
-/** \ingroup Geometry_Module */
typedef Transform<float,2,Isometry> Isometry2f;
/** \ingroup Geometry_Module */
typedef Transform<float,3,Isometry> Isometry3f;
@@ -981,6 +994,7 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
// translation and remaining parts
res.matrix().template topRightCorner<Dim,1>()
= - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
+ res.makeAffine(); // we do need this, because in the beginning res is uninitialized
}
return res;
}
@@ -1058,7 +1072,18 @@ template<typename Lhs, typename D2> struct ei_general_product_return_type<Lhs, M
template<typename D1, typename Rhs> struct ei_general_product_return_type<MatrixBase<D1>, Rhs >
{ typedef D1 Type; };
-
+template<int LhsMode,int RhsMode>
+struct ei_transform_product_result
+{
+ enum
+ {
+ Mode =
+ (LhsMode == (int)Projective || RhsMode == (int)Projective ) ? Projective :
+ (LhsMode == (int)Affine || RhsMode == (int)Affine ) ? Affine :
+ (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact ) ? AffineCompact :
+ (LhsMode == (int)Isometry || RhsMode == (int)Isometry ) ? Isometry : Projective
+ };
+};
// Projective * set of homogeneous column vectors
template<typename Other, int Dim, int HDim>
@@ -1281,52 +1306,32 @@ struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, Dim,Dim>
*** Specializations of operator* with another Transform ***
**********************************************************/
-template<typename Scalar, int Dim, int Mode>
-struct ei_transform_transform_product_impl<Transform<Scalar,Dim,Mode>,Transform<Scalar,Dim,Mode> >
-{
- typedef Transform<Scalar,Dim,Mode> TransformType;
- typedef TransformType ResultType;
- static ResultType run(const TransformType& lhs, const TransformType& rhs)
- {
- return ResultType(lhs.matrix() * rhs.matrix());
- }
-};
-
-template<typename Scalar, int Dim>
-struct ei_transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact>,Transform<Scalar,Dim,AffineCompact> >
-{
- typedef Transform<Scalar,Dim,AffineCompact> TransformType;
- typedef TransformType ResultType;
- static ResultType run(const TransformType& lhs, const TransformType& rhs)
- {
- return ei_transform_right_product_impl<typename TransformType::MatrixType,
- AffineCompact,Dim,Dim+1>::run(lhs,rhs.matrix());
- }
-};
-
template<typename Scalar, int Dim, int LhsMode, int RhsMode>
-struct ei_transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transform<Scalar,Dim,RhsMode> >
+struct ei_transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transform<Scalar,Dim,RhsMode>,false >
{
+ enum { ResultMode = ei_transform_product_result<LhsMode,RhsMode>::Mode };
typedef Transform<Scalar,Dim,LhsMode> Lhs;
typedef Transform<Scalar,Dim,RhsMode> Rhs;
- typedef typename ei_transform_right_product_impl<typename Rhs::MatrixType,
- LhsMode,Dim,Dim+1>::ResultType ResultType;
+ typedef Transform<Scalar,Dim,ResultMode> ResultType;
static ResultType run(const Lhs& lhs, const Rhs& rhs)
{
- return ei_transform_right_product_impl<typename Rhs::MatrixType,LhsMode,Dim,Dim+1>::run(lhs,rhs.matrix());
+ ResultType res;
+ res.linear() = lhs.linear() * rhs.linear();
+ res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
+ res.makeAffine();
+ return res;
}
};
-template<typename Scalar, int Dim>
-struct ei_transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact>,
- Transform<Scalar,Dim,Affine> >
+template<typename Scalar, int Dim, int LhsMode, int RhsMode>
+struct ei_transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transform<Scalar,Dim,RhsMode>,true >
{
- typedef Transform<Scalar,Dim,AffineCompact> Lhs;
- typedef Transform<Scalar,Dim,Affine> Rhs;
- typedef Transform<Scalar,Dim,AffineCompact> ResultType;
+ typedef Transform<Scalar,Dim,LhsMode> Lhs;
+ typedef Transform<Scalar,Dim,RhsMode> Rhs;
+ typedef Transform<Scalar,Dim,Projective> ResultType;
static ResultType run(const Lhs& lhs, const Rhs& rhs)
{
- return ResultType(lhs.matrix() * rhs.matrix());
+ return ResultType( lhs.matrix() * rhs.matrix() );
}
};
diff --git a/Eigen/src/Geometry/Translation.h b/Eigen/src/Geometry/Translation.h
index 7a3482c8c..59d3e4a41 100644
--- a/Eigen/src/Geometry/Translation.h
+++ b/Eigen/src/Geometry/Translation.h
@@ -131,7 +131,7 @@ public:
return res;
}
- /** Concatenates a translation and an affine transformation */
+ /** Concatenates a translation and a transformation */
template<int Mode>
inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode>& t) const
{
generated by cgit v1.2.3 (git 2.39.1) at 2024-06-20 16:32:10 +0000