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Fix QuaternionBase::cast for quaternion map and wrapper.

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This commit is contained in:
Gael Guennebaud 2019-12-03 14:51:14 +01:00
parent 7745f69013
commit 6358599ecb
2 changed files with 25 additions and 2 deletions
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19
Eigen/src/Geometry/Quaternion.h
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@ -169,17 +169,32 @@ class QuaternionBase : public RotationBase<Derived, 3>
/** return the result vector of \a v through the rotation*/ /** return the result vector of \a v through the rotation*/
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const; EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
#ifdef EIGEN_PARSED_BY_DOXYGEN
/** \returns \c *this with scalar type casted to \a NewScalarType /** \returns \c *this with scalar type casted to \a NewScalarType
* *
* Note that if \a NewScalarType is equal to the current scalar type of \c *this * Note that if \a NewScalarType is equal to the current scalar type of \c *this
* then this function smartly returns a const reference to \c *this. * then this function smartly returns a const reference to \c *this.
*/ */
template<typename NewScalarType> template<typename NewScalarType>
EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const;
#else
template<typename NewScalarType>
EIGEN_DEVICE_FUNC inline
typename internal::enable_if<internal::is_same<Scalar,NewScalarType>::value,const Derived&>::type cast() const
{ {
return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived()); return derived();
} }
template<typename NewScalarType>
EIGEN_DEVICE_FUNC inline
typename internal::enable_if<!internal::is_same<Scalar,NewScalarType>::value,Quaternion<NewScalarType> >::type cast() const
{
return Quaternion<NewScalarType>(coeffs().template cast<NewScalarType>());
}
#endif
#ifdef EIGEN_QUATERNIONBASE_PLUGIN #ifdef EIGEN_QUATERNIONBASE_PLUGIN
# include EIGEN_QUATERNIONBASE_PLUGIN # include EIGEN_QUATERNIONBASE_PLUGIN
#endif #endif

8
test/geo_quaternion.cpp
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@ -245,6 +245,14 @@ template<typename Scalar> void mapQuaternion(void){
// is used to determine whether we can return a coeff by reference or not, which is not enough for Map<const ...>. // is used to determine whether we can return a coeff by reference or not, which is not enough for Map<const ...>.
//const MCQuaternionUA& cmcq3(mcq3); //const MCQuaternionUA& cmcq3(mcq3);
//VERIFY( &cmcq3.x() == &mcq3.x() ); //VERIFY( &cmcq3.x() == &mcq3.x() );
// test cast
{
Quaternion<float> q1f = mq1.template cast<float>();
VERIFY_IS_APPROX(q1f.template cast<Scalar>(),mq1);
Quaternion<double> q1d = mq1.template cast<double>();
VERIFY_IS_APPROX(q1d.template cast<Scalar>(),mq1);
}
} }
template<typename Scalar> void quaternionAlignment(void){ template<typename Scalar> void quaternionAlignment(void){