From 6e1c086593075e8f16e914a1c7200bceea9aea7b Mon Sep 17 00:00:00 2001
From: Tal Hadad <tal_hd@hotmail.com>
Date: Mon, 13 Jun 2016 21:55:17 +0300
Subject: [PATCH] Add static assertion

---
 .../Eigen/src/EulerAngles/EulerAngles.h       |  4 +++
 .../Eigen/src/EulerAngles/EulerSystem.h       | 29 +++++++++++++------
 2 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/unsupported/Eigen/src/EulerAngles/EulerAngles.h b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
index 9d1762ace..911ba4d09 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerAngles.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
@@ -229,6 +229,8 @@ namespace Eigen
         typename Derived>
       static EulerAngles FromRotation(const MatrixBase<Derived>& m)
       {
+        EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
+        
         EulerAngles e;
         System::CalcEulerAngles<PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma>(e, m);
         return e;
@@ -272,6 +274,8 @@ namespace Eigen
       /** Set \c *this from a rotation matrix(i.e. pure orthogonal matrix with determinant of +1). */
       template<typename Derived>
       EulerAngles& operator=(const MatrixBase<Derived>& m) {
+        EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
+        
         System::CalcEulerAngles(*this, m);
         return *this;
       }
diff --git a/unsupported/Eigen/src/EulerAngles/EulerSystem.h b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
index ac73b48a0..c368a8bfa 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerSystem.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
@@ -38,6 +38,8 @@ namespace Eigen
     };
   }
   
+  #define EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(COND,MSG) typedef char static_assertion_##MSG[(COND)?1:-1]
+  
   /** \brief Representation of a fixed signed rotation axis for EulerAngles.
     *
     * Values here represent:
@@ -83,7 +85,7 @@ namespace Eigen
     *  - right handed or left handed
     *  - counterclockwise or clockwise
     *
-    * Notice all axed combination are valid, and would trigger an assertion !TODO!.
+    * Notice all axed combination are valid, and would trigger a static assertion.
     * Same unsigned axes can't be neighbors, e.g. {X,X,Y} is invalid.
     * This yield two and only two classes:
     *  - tait bryan - all unsigned axes are distinct, e.g. {X,Y,Z}
@@ -147,17 +149,26 @@ namespace Eigen
       
       IsOdd = ((AlphaAxisAbs)%3 == (BetaAxisAbs - 1)%3) ? 0 : 1,
       IsEven = IsOdd ? 0 : 1,
-      
-      // TODO: Assert this, and sort it in a better way
-      IsValid = ((unsigned)AlphaAxisAbs != (unsigned)BetaAxisAbs &&
-        (unsigned)BetaAxisAbs != (unsigned)GammaAxisAbs &&
-        internal::IsValidAxis<AlphaAxis>::value && internal::IsValidAxis<BetaAxis>::value && internal::IsValidAxis<GammaAxis>::value) ? 1 : 0,
 
-      // TODO: After a proper assertation, remove the "IsValid" from this expression
-      IsTaitBryan = (IsValid && (unsigned)AlphaAxisAbs != (unsigned)GammaAxisAbs) ? 1 : 0
+      IsTaitBryan = ((unsigned)AlphaAxisAbs != (unsigned)GammaAxisAbs) ? 1 : 0
     };
-
+    
     private:
+    
+    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<AlphaAxis>::value,
+      ALPHA_AXIS_IS_INVALID);
+      
+    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<BetaAxis>::value,
+      BETA_AXIS_IS_INVALID);
+      
+    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT(internal::IsValidAxis<GammaAxis>::value,
+      GAMMA_AXIS_IS_INVALID);
+      
+    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((unsigned)AlphaAxisAbs != (unsigned)BetaAxisAbs,
+      ALPHA_AXIS_CANT_BE_EQUAL_TO_BETA_AXIS);
+      
+    EIGEN_EULER_ANGLES_CLASS_STATIC_ASSERT((unsigned)BetaAxisAbs != (unsigned)GammaAxisAbs,
+      BETA_AXIS_CANT_BE_EQUAL_TO_GAMMA_AXIS);
 
     enum
     {