From 85fdcdf0554918a485112ed078417379f691d01b Mon Sep 17 00:00:00 2001
From: Hauke Heibel <hauke.heibel@gmail.com>
Date: Tue, 17 Aug 2010 20:03:50 +0200
Subject: Fixed Geometry module failures.

Removed default parameter from Transform.
Removed the TransformXX typedefs.
Removed references to TransformXX from unit tests and docs.
Assigning Transforms to a sub-group is now forbidden at compile time.
Products should now properly support the Isometry flag.
Fixed alignment checks in MapBase.
---
 demos/opengl/camera.cpp          | 2 +-
 demos/opengl/camera.h            | 4 ++--
 demos/opengl/quaternion_demo.cpp | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

(limited to 'demos/opengl')

diff --git a/demos/opengl/camera.cpp b/demos/opengl/camera.cpp
index bb60d483b..7e3880661 100644
--- a/demos/opengl/camera.cpp
+++ b/demos/opengl/camera.cpp
@@ -217,7 +217,7 @@ void Camera::updateViewMatrix(void) const
     }
 }
 
-const Transform3f& Camera::viewMatrix(void) const
+const Affine3f& Camera::viewMatrix(void) const
 {
   updateViewMatrix();
   return mViewMatrix;
diff --git a/demos/opengl/camera.h b/demos/opengl/camera.h
index 53b8f1e26..c5c3a73e8 100644
--- a/demos/opengl/camera.h
+++ b/demos/opengl/camera.h
@@ -90,7 +90,7 @@ class Camera
     void setTarget(const Eigen::Vector3f& target);
     inline const Eigen::Vector3f& target(void) { return mTarget; }
     
-    const Eigen::Transform3f& viewMatrix(void) const;
+    const Eigen::Affine3f& viewMatrix(void) const;
     const Eigen::Matrix4f& projectionMatrix(void) const;
     
     void rotateAroundTarget(const Eigen::Quaternionf& q);
@@ -116,7 +116,7 @@ class Camera
 
     Frame mFrame;
     
-    mutable Eigen::Transform3f mViewMatrix;
+    mutable Eigen::Affine3f mViewMatrix;
     mutable Eigen::Matrix4f mProjectionMatrix;
 
     mutable bool mViewIsUptodate;
diff --git a/demos/opengl/quaternion_demo.cpp b/demos/opengl/quaternion_demo.cpp
index c03a89cd5..9d496f922 100644
--- a/demos/opengl/quaternion_demo.cpp
+++ b/demos/opengl/quaternion_demo.cpp
@@ -92,7 +92,7 @@ class FancySpheres
           Vector3f ax1 = ax0.unitOrthogonal();
           Quaternionf q;
           q.setFromTwoVectors(Vector3f::UnitZ(), ax0);
-          Transform3f t = Translation3f(c) * q * Scaling(mRadii[i]+radius);
+          Affine3f t = Translation3f(c) * q * Scaling(mRadii[i]+radius);
           for (int j=0; j<5; ++j)
           {
             Vector3f newC = c + ( (AngleAxisf(angles[j*2+1], ax0)
@@ -113,7 +113,7 @@ class FancySpheres
       glEnable(GL_NORMALIZE);
       for (int i=0; i<end; ++i)
       {
-        Transform3f t = Translation3f(mCenters[i]) * Scaling(mRadii[i]);
+        Affine3f t = Translation3f(mCenters[i]) * Scaling(mRadii[i]);
         gpu.pushMatrix(GL_MODELVIEW);
         gpu.multMatrix(t.matrix(),GL_MODELVIEW);
         mIcoSphere.draw(2);
-- 
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