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Add static assertion

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This commit is contained in:
Tal Hadad 2016-06-13 21:55:17 +03:00
parent 06206482d9
commit 6e1c086593
2 changed files with 24 additions and 9 deletions
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4
unsupported/Eigen/src/EulerAngles/EulerAngles.h
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@ -229,6 +229,8 @@ namespace Eigen
typename Derived> typename Derived>
static EulerAngles FromRotation(const MatrixBase<Derived>& m) static EulerAngles FromRotation(const MatrixBase<Derived>& m)
{ {
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
EulerAngles e; EulerAngles e;
System::CalcEulerAngles<PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma>(e, m); System::CalcEulerAngles<PositiveRangeAlpha, PositiveRangeBeta, PositiveRangeGamma>(e, m);
return e; return e;
@ -272,6 +274,8 @@ namespace Eigen
/** Set \c *this from a rotation matrix(i.e. pure orthogonal matrix with determinant of +1). */ /** Set \c *this from a rotation matrix(i.e. pure orthogonal matrix with determinant of +1). */
template<typename Derived> template<typename Derived>
EulerAngles& operator=(const MatrixBase<Derived>& m) { EulerAngles& operator=(const MatrixBase<Derived>& m) {
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
System::CalcEulerAngles(*this, m); System::CalcEulerAngles(*this, m);
return *this; return *this;
} }

29
unsupported/Eigen/src/EulerAngles/EulerSystem.h
View File

@ -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. /** \brief Representation of a fixed signed rotation axis for EulerAngles.
* *
* Values here represent: * Values here represent:
@ -83,7 +85,7 @@ namespace Eigen
* - right handed or left handed * - right handed or left handed
* - counterclockwise or clockwise * - 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. * Same unsigned axes can't be neighbors, e.g. {X,X,Y} is invalid.
* This yield two and only two classes: * This yield two and only two classes:
* - tait bryan - all unsigned axes are distinct, e.g. {X,Y,Z} * - 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, IsOdd = ((AlphaAxisAbs)%3 == (BetaAxisAbs - 1)%3) ? 0 : 1,
IsEven = IsOdd ? 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 = ((unsigned)AlphaAxisAbs != (unsigned)GammaAxisAbs) ? 1 : 0
IsTaitBryan = (IsValid && (unsigned)AlphaAxisAbs != (unsigned)GammaAxisAbs) ? 1 : 0
}; };
private: 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 enum
{ {