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fix bug #42, add missing Transform::Identity()

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This commit is contained in:
Benoit Jacob 2009-09-19 19:59:49 -04:00
parent 828a79ac78
commit 1df54e3ac2
2 changed files with 11 additions and 0 deletions
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4
Eigen/src/Geometry/Transform.h
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@ -345,6 +345,10 @@ public:
/** \sa MatrixBase::setIdentity() */ /** \sa MatrixBase::setIdentity() */
void setIdentity() { m_matrix.setIdentity(); } void setIdentity() { m_matrix.setIdentity(); }
static const typename MatrixType::IdentityReturnType Identity()
{
return MatrixType::Identity();
}
template<typename OtherDerived> template<typename OtherDerived>
inline Transform& scale(const MatrixBase<OtherDerived> &other); inline Transform& scale(const MatrixBase<OtherDerived> &other);

7
test/geo_transformations.cpp
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@ -102,7 +102,14 @@ template<typename Scalar, int Mode> void transformations(void)
a = ei_random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI)); a = ei_random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI));
q1 = AngleAxisx(a, v0.normalized()); q1 = AngleAxisx(a, v0.normalized());
Transform3 t0, t1, t2; Transform3 t0, t1, t2;
// first test setIdentity() and Identity()
t0.setIdentity(); t0.setIdentity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.matrix().setZero();
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.linear() = q1.toRotationMatrix(); t0.linear() = q1.toRotationMatrix();
t1.setIdentity(); t1.setIdentity();
t1.linear() = q1.toRotationMatrix(); t1.linear() = q1.toRotationMatrix();