GitHub-Proxy/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2025-08-15 05:05:58 +08:00
Code Issues Packages Projects Releases Wiki Activity

Make sure that HyperPlane::transform manitains a unit normal vector in the Affine case.

Browse Source
This commit is contained in:
Gael Guennebaud 2016-12-20 09:35:00 +01:00
parent 18038fc829
commit 1ded6bf3fa
2 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
Eigen/src/Geometry/Hyperplane.h
View File

@ -218,7 +218,10 @@ public:
inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
{
if (traits==Affine)
{
normal() = mat.inverse().transpose() * normal();
m_coeffs /= normal().norm();
}
else if (traits==Isometry)
normal() = mat * normal();
else

3
test/geo_hyperplane.cpp
View File

@ -59,12 +59,15 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) );
VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation)
.absDistance((rot*scaling*translation) * p1), Scalar(1) );
VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) );
pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry)
.absDistance((rot*translation) * p1), Scalar(1) );
VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) );
}
// casting