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Fix preshear transformation.

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Fixes #2777.  The `preshear` function seems to have always used an invalid constructor
internally, and has been broken for a while.  Fixed the implementation and added a test.

(cherry picked from commit 45da84e21570bf70238cf489ad862b2f09242c5f)
This commit is contained in:
Antonio Sanchez 2024-01-29 12:23:51 -08:00
parent b86ac5f1e7
commit 42b04a08c4
2 changed files with 8 additions and 1 deletions
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3
Eigen/src/Geometry/Transform.h
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@ -985,7 +985,8 @@ Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
{
EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
m_matrix.template block<Dim, HDim>(0, 0) =
LinearMatrixType({{1, sy}, {sx, 1}}) * m_matrix.template block<Dim, HDim>(0, 0);
return *this;
}

6
test/geo_transformations.cpp
View File

@ -276,6 +276,12 @@ template<typename Scalar, int Mode, int Options> void transformations()
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
* (t21.prescale(v21.cwiseInverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) );
t20.setIdentity();
t20.shear(Scalar(2), Scalar(3));
Transform2 t23 = t20 * t21;
t21.preshear(Scalar(2), Scalar(3));
VERIFY_IS_APPROX(t21, t23);
// Transform - new API
// 3D
t0.setIdentity();