diff options
Diffstat (limited to 'Eigen')
| -rw-r--r-- | Eigen/src/Geometry/Transform.h | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index da3187e3c..842a6bb4e 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -1034,6 +1034,17 @@ struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,1> { return tr.linear() * other + tr.translation(); } }; +// Affine * set of column vectors +// FIXME use a ReturnByValue to remove the temporary +template<typename Other, int Mode, int Dim, int HDim> +struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,Dynamic> +{ + typedef Transform<typename Other::Scalar,Dim,Mode> TransformType; + typedef Matrix<typename Other::Scalar,Dim,Dynamic> ResultType; + static ResultType run(const TransformType& tr, const Other& other) + { return (tr.linear() * other).colwise() + tr.translation(); } +}; + // Affine * homogeneous column vector // FIXME added for backward compatibility, but I'm not sure we should keep it template<typename Other, int Mode, int Dim, int HDim> |