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* add Transform explicit constructors taking translation/scaling/rotation

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* 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
This commit is contained in:
Benoit Jacob 2008-12-07 17:49:56 +00:00
parent 6700f07fb0
commit 09fd69d734
2 changed files with 23 additions and 5 deletions
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2
Eigen/src/Core/util/Memory.h
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@ -40,7 +40,7 @@ template <typename T, int Size, bool Align> struct ei_aligned_array
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 !!! ****"); && "this assertion is explained here: http://eigen.tuxfamily.org/api/UnalignedArrayAssert.html **** READ THIS WEB PAGE !!! ****");
} }
}; };

26
Eigen/src/Geometry/Transform.h
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@ -100,6 +100,11 @@ public:
inline Transform(const Transform& other) inline Transform(const Transform& other)
{ m_matrix = other.m_matrix; } { 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) inline Transform& operator=(const Transform& other)
{ m_matrix = other.m_matrix; return *this; } { m_matrix = other.m_matrix; return *this; }
@ -226,8 +231,8 @@ public:
return res; return res;
} }
// template<typename Derived> template<typename Derived>
// inline Transform& operator=(const Rotation<Derived,Dim>& t); inline Transform& operator=(const RotationBase<Derived,Dim>& r);
template<typename Derived> template<typename Derived>
inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); } inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
template<typename Derived> template<typename Derived>
@ -523,8 +528,10 @@ Transform<Scalar,Dim>::preshear(Scalar sx, Scalar sy)
template<typename Scalar, int Dim> template<typename Scalar, int Dim>
inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const TranslationType& t) inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const TranslationType& t)
{ {
setIdentity(); linear().setIdentity;
translation() = t.vector(); translation() = t.vector();
m_matrix.template block<1,Dim>(Dim,0).setZero();
m_matrix(Dim,Dim) = Scalar(1);
return *this; return *this;
} }
@ -553,6 +560,17 @@ inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const ScalingType&
return res; 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 Scalar, int Dim>
template<typename Derived> template<typename Derived>
inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase<Derived,Dim>& r) const 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() = ei_toRotationMatrix<Scalar,Dim>(orientation);
linear() *= scale.asDiagonal(); linear() *= scale.asDiagonal();
translation() = position; translation() = position;
m_matrix(Dim,Dim) = 1.;
m_matrix.template block<1,Dim>(Dim,0).setZero(); m_matrix.template block<1,Dim>(Dim,0).setZero();
m_matrix(Dim,Dim) = Scalar(1);
return *this; return *this;
} }