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Simplified to product templates to a minimum of template parameters.

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Removed the ei_is_any_projective helper and added ei_transform_traits.
This commit is contained in:
Hauke Heibel 2010-08-19 20:02:46 +02:00
parent a64aabf73c
commit 610d79e686
1 changed files with 37 additions and 32 deletions
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69
Eigen/src/Geometry/Transform.h
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@ -3,6 +3,7 @@
// //
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com> // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
// //
// Eigen is free software; you can redistribute it and/or // Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public // modify it under the terms of the GNU Lesser General Public
@ -26,28 +27,23 @@
#ifndef EIGEN_TRANSFORM_H #ifndef EIGEN_TRANSFORM_H
#define EIGEN_TRANSFORM_H #define EIGEN_TRANSFORM_H
template<typename Transform, typename OtherTransform> template<typename Transform>
struct ei_is_any_projective struct ei_transform_traits
{ {
static const bool value = enum
((int)Transform::Mode == Projective) || {
((int)OtherTransform::Mode == Projective); Dim = Transform::Dim,
HDim = Transform::HDim,
Mode = Transform::Mode,
IsProjective = (Mode==Projective)
};
}; };
// Note that we have to pass Dim and HDim because it is not allowed to use a template template< typename TransformType,
// parameter to define a template specialization. To be more precise, in the following typename MatrixType,
// specializations, it is not allowed to use Dim+1 instead of HDim. bool IsProjective = ei_transform_traits<TransformType>::IsProjective>
template< typename Other,
int Mode,
int Dim,
int HDim,
int OtherRows=Other::RowsAtCompileTime,
int OtherCols=Other::ColsAtCompileTime,
bool IsProjective = (Mode==(int)Projective)>
struct ei_transform_right_product_impl; struct ei_transform_right_product_impl;
template<typename TransformType> struct ei_transform_take_affine_part;
template< typename Other, template< typename Other,
int Mode, int Mode,
int Dim, int Dim,
@ -58,7 +54,9 @@ struct ei_transform_left_product_impl;
template< typename Lhs, template< typename Lhs,
typename Rhs, typename Rhs,
bool AnyProjective = ei_is_any_projective<Lhs,Rhs>::value > bool AnyProjective =
ei_transform_traits<Lhs>::IsProjective ||
ei_transform_traits<Lhs>::IsProjective>
struct ei_transform_transform_product_impl; struct ei_transform_transform_product_impl;
template< typename Other, template< typename Other,
@ -69,6 +67,8 @@ template< typename Other,
int OtherCols=Other::ColsAtCompileTime> int OtherCols=Other::ColsAtCompileTime>
struct ei_transform_construct_from_matrix; struct ei_transform_construct_from_matrix;
template<typename TransformType> struct ei_transform_take_affine_part;
/** \geometry_module \ingroup Geometry_Module /** \geometry_module \ingroup Geometry_Module
* *
* \class Transform * \class Transform
@ -354,9 +354,9 @@ public:
*/ */
// note: this function is defined here because some compilers cannot find the respective declaration // note: this function is defined here because some compilers cannot find the respective declaration
template<typename OtherDerived> template<typename OtherDerived>
EIGEN_STRONG_INLINE const typename ei_transform_right_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType EIGEN_STRONG_INLINE const typename ei_transform_right_product_impl<Transform, OtherDerived>::ResultType
operator * (const EigenBase<OtherDerived> &other) const operator * (const EigenBase<OtherDerived> &other) const
{ return ei_transform_right_product_impl<OtherDerived,Mode,Dim,HDim>::run(*this,other.derived()); } { return ei_transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
/** \returns the product expression of a transformation matrix \a a times a transform \a b /** \returns the product expression of a transformation matrix \a a times a transform \a b
* *
@ -1109,30 +1109,35 @@ struct ei_transform_product_result
}; };
}; };
template< typename Other, int Mode, int Dim, int HDim, int OtherCols > template< typename TransformType, typename MatrixType >
struct ei_transform_right_product_impl<Other, Mode, Dim, HDim, HDim, OtherCols, true> struct ei_transform_right_product_impl< TransformType, MatrixType, true >
{ {
typedef typename Other::Scalar Scalar; typedef typename MatrixType::PlainObject ResultType;
typedef typename Other::PlainObject ResultType;
EIGEN_STRONG_INLINE static ResultType run(const Transform<Scalar,Dim,Projective>& T, const Other& other) EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
{ {
return T.matrix() * other; return T.matrix() * other;
} }
}; };
template< typename Other, int Mode, int Dim, int HDim, int OtherRows, int OtherCols > template< typename TransformType, typename MatrixType >
struct ei_transform_right_product_impl<Other, Mode, Dim, HDim, OtherRows, OtherCols, false> struct ei_transform_right_product_impl< TransformType, MatrixType, false >
{ {
typedef typename Other::Scalar Scalar; enum {
typedef typename Other::PlainObject ResultType; Dim = TransformType::Dim,
HDim = TransformType::HDim,
OtherRows = MatrixType::RowsAtCompileTime,
OtherCols = MatrixType::ColsAtCompileTime
};
EIGEN_STRONG_INLINE static ResultType run(const Transform<Scalar,Dim,Mode>& T, const Other& other) typedef typename MatrixType::PlainObject ResultType;
EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other)
{ {
EIGEN_STATIC_ASSERT(OtherRows==Dim || OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES); EIGEN_STATIC_ASSERT(OtherRows==Dim || OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
typedef Block<ResultType, Dim, OtherCols> TopLeftLhs; typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
typedef Block<Other, Dim, OtherCols> TopLeftRhs; typedef Block<MatrixType, Dim, OtherCols> TopLeftRhs;
ResultType res(other.rows(),other.cols()); ResultType res(other.rows(),other.cols());