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add quaternion Options, add unaligned possibility

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This commit is contained in:
Christoph Hertzberg 2011-01-27 09:14:22 -05:00
parent 9ccd16609c
commit 0aa752fc4f
2 changed files with 19 additions and 11 deletions
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2
Eigen/src/Core/util/ForwardDeclarations.h
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@ -220,7 +220,7 @@ template<typename Scalar> class JacobiRotation;
template<typename Derived, int _Dim> class RotationBase; template<typename Derived, int _Dim> class RotationBase;
template<typename Lhs, typename Rhs> class Cross; template<typename Lhs, typename Rhs> class Cross;
template<typename Derived> class QuaternionBase; template<typename Derived> class QuaternionBase;
template<typename Scalar> class Quaternion; template<typename Scalar, int Options = AutoAlign> class Quaternion;
template<typename Scalar> class Rotation2D; template<typename Scalar> class Rotation2D;
template<typename Scalar> class AngleAxis; template<typename Scalar> class AngleAxis;
template<typename Scalar,int Dim> class Translation; template<typename Scalar,int Dim> class Translation;

28
Eigen/src/Geometry/Quaternion.h
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@ -215,28 +215,28 @@ public:
*/ */
namespace internal { namespace internal {
template<typename _Scalar> template<typename _Scalar,int _Options>
struct traits<Quaternion<_Scalar> > struct traits<Quaternion<_Scalar,_Options> >
{ {
typedef Quaternion<_Scalar> PlainObject; typedef Quaternion<_Scalar,_Options> PlainObject;
typedef _Scalar Scalar; typedef _Scalar Scalar;
typedef Matrix<_Scalar,4,1> Coefficients; typedef Matrix<_Scalar,4,1,_Options> Coefficients;
enum{ enum{
PacketAccess = Aligned PacketAccess = _Options & DontAlign ? Unaligned : Aligned
}; };
}; };
} }
template<typename _Scalar> template<typename _Scalar, int _Options>
class Quaternion : public QuaternionBase<Quaternion<_Scalar> >{ class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >{
typedef QuaternionBase<Quaternion<_Scalar> > Base; typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
public: public:
typedef _Scalar Scalar; typedef _Scalar Scalar;
EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion<Scalar>) EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion)
using Base::operator*=; using Base::operator*=;
typedef typename internal::traits<Quaternion<Scalar> >::Coefficients Coefficients; typedef typename internal::traits<Quaternion<Scalar,_Options> >::Coefficients Coefficients;
typedef typename Base::AngleAxisType AngleAxisType; typedef typename Base::AngleAxisType AngleAxisType;
/** Default constructor leaving the quaternion uninitialized. */ /** Default constructor leaving the quaternion uninitialized. */
@ -272,6 +272,14 @@ public:
protected: protected:
Coefficients m_coeffs; Coefficients m_coeffs;
#ifndef EIGEN_PARSED_BY_DOXYGEN
EIGEN_STRONG_INLINE static void _check_template_params()
{
EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options,
INVALID_MATRIX_TEMPLATE_PARAMETERS)
}
#endif
}; };
/** \ingroup Geometry_Module /** \ingroup Geometry_Module