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Update Transform.h to make transform_construct_from_matrix and transform_take_affine_part callable from device code. Fixes #2377.

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Rasmus Munk Larsen 2021-11-16 00:58:30 +00:00
parent ca9c848679
commit 2b9297196c
1 changed files with 8 additions and 8 deletions
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16
Eigen/src/Geometry/Transform.h
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@ -1266,17 +1266,17 @@ template<typename TransformType> struct transform_take_affine_part {
typedef typename TransformType::MatrixType MatrixType; typedef typename TransformType::MatrixType MatrixType;
typedef typename TransformType::AffinePart AffinePart; typedef typename TransformType::AffinePart AffinePart;
typedef typename TransformType::ConstAffinePart ConstAffinePart; typedef typename TransformType::ConstAffinePart ConstAffinePart;
static inline AffinePart run(MatrixType& m) static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE AffinePart run(MatrixType& m)
{ return m.template block<TransformType::Dim,TransformType::HDim>(0,0); } { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
static inline ConstAffinePart run(const MatrixType& m) static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ConstAffinePart run(const MatrixType& m)
{ return m.template block<TransformType::Dim,TransformType::HDim>(0,0); } { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
}; };
template<typename Scalar, int Dim, int Options> template<typename Scalar, int Dim, int Options>
struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > { struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > {
typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType; typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType;
static inline MatrixType& run(MatrixType& m) { return m; } static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE MatrixType& run(MatrixType& m) { return m; }
static inline const MatrixType& run(const MatrixType& m) { return m; } static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const MatrixType& run(const MatrixType& m) { return m; }
}; };
/***************************************************** /*****************************************************
@ -1286,7 +1286,7 @@ struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> >
template<typename Other, int Mode, int Options, int Dim, int HDim> template<typename Other, int Mode, int Options, int Dim, int HDim>
struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim> struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
{ {
static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other) static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
{ {
transform->linear() = other; transform->linear() = other;
transform->translation().setZero(); transform->translation().setZero();
@ -1297,7 +1297,7 @@ struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
template<typename Other, int Mode, int Options, int Dim, int HDim> template<typename Other, int Mode, int Options, int Dim, int HDim>
struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim> struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
{ {
static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other) static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
{ {
transform->affine() = other; transform->affine() = other;
transform->makeAffine(); transform->makeAffine();
@ -1307,14 +1307,14 @@ struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
template<typename Other, int Mode, int Options, int Dim, int HDim> template<typename Other, int Mode, int Options, int Dim, int HDim>
struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim> struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim>
{ {
static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other) static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
{ transform->matrix() = other; } { transform->matrix() = other; }
}; };
template<typename Other, int Options, int Dim, int HDim> template<typename Other, int Options, int Dim, int HDim>
struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim> struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim>
{ {
static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other) static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other)
{ transform->matrix() = other.template block<Dim,HDim>(0,0); } { transform->matrix() = other.template block<Dim,HDim>(0,0); }
}; };