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allow constructing Transform from small-matrix (like fromPosOrientScale

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but with trivial Pos and Scale)
This commit is contained in:
Benoit Jacob 2008-08-24 21:25:04 +00:00
parent bf31d81aac
commit 124ec71c50
1 changed files with 11 additions and 2 deletions
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13
Eigen/src/Geometry/Transform.h
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@ -89,10 +89,19 @@ public:
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; }
/** Constructs and initializes a transformation from a (Dim+1)^2 matrix. */ /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
template<typename OtherDerived> template<typename OtherDerived>
inline explicit Transform(const MatrixBase<OtherDerived>& other) inline explicit Transform(const MatrixBase<OtherDerived>& other)
{ m_matrix = other; } {
if(OtherDerived::RowsAtCompileTime == Dim)
{
linear() = other;
translation().setZero();
m_matrix(Dim,Dim) = Scalar(1);
m_matrix.template block<1,Dim>(Dim,0).setZero();
}
else m_matrix = other;
}
/** Set \c *this from a (Dim+1)^2 matrix. */ /** Set \c *this from a (Dim+1)^2 matrix. */
template<typename OtherDerived> template<typename OtherDerived>