From 09fd69d7344c8abea3179a4f4e68fb7f23f10d1f Mon Sep 17 00:00:00 2001
From: Benoit Jacob <jacob.benoit.1@gmail.com>
Date: Sun, 7 Dec 2008 17:49:56 +0000
Subject: [PATCH] * add Transform explicit constructors taking
 translation/scaling/rotation * add Transform::operator= taking rotation.   An
 old remnant was left commented out. Why was it disabled? * slight
 optimization in operator= taking translation * slight optimization (perhaps)
 in the new memory assertion

---
 Eigen/src/Core/util/Memory.h   |  2 +-
 Eigen/src/Geometry/Transform.h | 26 ++++++++++++++++++++++----
 2 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/Eigen/src/Core/util/Memory.h b/Eigen/src/Core/util/Memory.h
index 5e42327e4..8494c5552 100644
--- a/Eigen/src/Core/util/Memory.h
+++ b/Eigen/src/Core/util/Memory.h
@@ -40,7 +40,7 @@ template <typename T, int Size, bool Align> struct ei_aligned_array
 
   ei_aligned_array()
   {
-    ei_assert(reinterpret_cast<unsigned int>(array)%16 == 0
+    ei_assert((reinterpret_cast<unsigned int>(array) & 0xf) == 0
               && "this assertion is explained here: http://eigen.tuxfamily.org/api/UnalignedArrayAssert.html  **** READ THIS WEB PAGE !!! ****");
   }
 };
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 00cc8e47a..6ae49e90f 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -100,6 +100,11 @@ public:
   inline Transform(const Transform& other)
   { m_matrix = other.m_matrix; }
 
+  inline explicit Transform(const TranslationType& t) { *this = t; }
+  inline explicit Transform(const ScalingType& s) { *this = s; }
+  template<typename Derived>
+  inline explicit Transform(const RotationBase<Derived, Dim>& r) { *this = r; }
+
   inline Transform& operator=(const Transform& other)
   { m_matrix = other.m_matrix; return *this; }
 
@@ -226,8 +231,8 @@ public:
     return res;
   }
 
-//   template<typename Derived>
-//   inline Transform& operator=(const Rotation<Derived,Dim>& t);
+  template<typename Derived>
+  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
   template<typename Derived>
   inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
   template<typename Derived>
@@ -523,8 +528,10 @@ Transform<Scalar,Dim>::preshear(Scalar sx, Scalar sy)
 template<typename Scalar, int Dim>
 inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const TranslationType& t)
 {
-  setIdentity();
+  linear().setIdentity;
   translation() = t.vector();
+  m_matrix.template block<1,Dim>(Dim,0).setZero();
+  m_matrix(Dim,Dim) = Scalar(1);
   return *this;
 }
 
@@ -553,6 +560,17 @@ inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const ScalingType&
   return res;
 }
 
+template<typename Scalar, int Dim>
+template<typename Derived>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const RotationBase<Derived,Dim>& r)
+{
+  linear() = ei_toRotationMatrix<Scalar,Dim>(r);
+  translation().setZero();
+  m_matrix.template block<1,Dim>(Dim,0).setZero();
+  m_matrix(Dim,Dim) = Scalar(1);
+  return *this;
+}
+
 template<typename Scalar, int Dim>
 template<typename Derived>
 inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase<Derived,Dim>& r) const
@@ -617,8 +635,8 @@ Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDer
   linear() = ei_toRotationMatrix<Scalar,Dim>(orientation);
   linear() *= scale.asDiagonal();
   translation() = position;
-  m_matrix(Dim,Dim) = 1.;
   m_matrix.template block<1,Dim>(Dim,0).setZero();
+  m_matrix(Dim,Dim) = Scalar(1);
   return *this;
 }