From 5c8c09e02188ab4441a99bb07c5feb1308ab068f Mon Sep 17 00:00:00 2001
From: Gael Guennebaud <g.gael@free.fr>
Date: Sat, 30 Aug 2008 23:10:46 +0000
Subject: [PATCH] add uniform scale/prescale functions in Tranform

---
 Eigen/src/Geometry/RotationBase.h |  4 ++--
 Eigen/src/Geometry/Transform.h    | 26 ++++++++++++++++++++++++++
 test/geometry.cpp                 | 18 ++++++++++--------
 3 files changed, 38 insertions(+), 10 deletions(-)

diff --git a/Eigen/src/Geometry/RotationBase.h b/Eigen/src/Geometry/RotationBase.h
index e436f8fe6..dff905528 100644
--- a/Eigen/src/Geometry/RotationBase.h
+++ b/Eigen/src/Geometry/RotationBase.h
@@ -77,7 +77,7 @@ template<typename OtherDerived>
 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
 ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
 {
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,OtherDerived::Dim,OtherDerived::Dim);
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim));
   *this = r.toRotationMatrix();
 }
 
@@ -91,7 +91,7 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
 ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
 {
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,OtherDerived::Dim,OtherDerived::Dim);
+  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim));
   return *this = r.toRotationMatrix();
 }
 
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index da457fc38..7475b75df 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -188,6 +188,9 @@ public:
   template<typename OtherDerived>
   inline Transform& prescale(const MatrixBase<OtherDerived> &other);
 
+  inline Transform& scale(Scalar s);
+  inline Transform& prescale(Scalar s);
+
   template<typename OtherDerived>
   inline Transform& translate(const MatrixBase<OtherDerived> &other);
 
@@ -310,6 +313,17 @@ Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other)
   return *this;
 }
 
+/** Applies on the right a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa prescale(Scalar)
+  */
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::scale(Scalar s)
+{
+  linear() *= s;
+  return *this;
+}
+
 /** Applies on the left the non uniform scale transformation represented
   * by the vector \a other to \c *this and returns a reference to \c *this.
   * \sa scale()
@@ -324,6 +338,17 @@ Transform<Scalar,Dim>::prescale(const MatrixBase<OtherDerived> &other)
   return *this;
 }
 
+/** Applies on the left a uniform scale of a factor \a c to \c *this
+  * and returns a reference to \c *this.
+  * \sa scale(Scalar)
+  */
+template<typename Scalar, int Dim>
+inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::prescale(Scalar s)
+{
+  m_matrix.template corner<Dim,HDim>(TopLeft) *= s;
+  return *this;
+}
+
 /** Applies on the right the translation matrix represented by the vector \a other
   * to \c *this and returns a reference to \c *this.
   * \sa pretranslate()
@@ -516,6 +541,7 @@ Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
     return linear();
   else
     ei_assert("invalid traits value in Transform::inverse()");
+  return LinearMatrixType();
 }
 
 /** Convenient method to set \c *this from a position, orientation and scale
diff --git a/test/geometry.cpp b/test/geometry.cpp
index 2bad57f62..0654bed65 100644
--- a/test/geometry.cpp
+++ b/test/geometry.cpp
@@ -157,6 +157,16 @@ template<typename Scalar> void geometry(void)
   VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
   VERIFY_IS_APPROX(t1*v1, t0*v1);
 
+  t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
+  t1.setIdentity(); t1.scale(v0).rotate(q1);
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+
+  t0.setIdentity(); t0.scale(v0).rotate(AngleAxis(q1));
+  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
+
+  VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
+  VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
+
   // 2D transformation
   Transform2 t20, t21;
   Vector2 v20 = test_random_matrix<Vector2>();
@@ -173,14 +183,6 @@ template<typename Scalar> void geometry(void)
   VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
         * (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity(test_precision<Scalar>()) );
 
-
-  t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
-  t1.setIdentity(); t1.scale(v0).rotate(q1);
-  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
-
-  t0.setIdentity(); t0.scale(v0).rotate(AngleAxis(q1));
-  VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
-
   // Transform - new API
   // 3D
   t0.setIdentity();