GitHub-Proxy/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2025-08-12 11:49:02 +08:00
Code Issues Packages Projects Releases Wiki Activity

Transform*Transform should return Transform

Browse Source 
unit test compiles again
This commit is contained in:
Benoit Jacob 2008-12-19 15:55:35 +00:00
parent 5f6fbaa0e7
commit a3fad2e3c3
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Eigen/src/Geometry/Transform.h
View File

@ -185,9 +185,9 @@ public:
{ return ei_transform_product_impl<OtherDerived,Dim,HDim>::run(*this,other.derived()); } { return ei_transform_product_impl<OtherDerived,Dim,HDim>::run(*this,other.derived()); }
/** Contatenates two transformations */ /** Contatenates two transformations */
inline const typename ProductReturnType<MatrixType,MatrixType>::Type inline const Transform
operator * (const Transform& other) const operator * (const Transform& other) const
{ return m_matrix * other.matrix(); } { return Transform(m_matrix * other.matrix()); }
/** \sa MatrixBase::setIdentity() */ /** \sa MatrixBase::setIdentity() */
void setIdentity() { m_matrix.setIdentity(); } void setIdentity() { m_matrix.setIdentity(); }

4
test/geometry.cpp
View File

@ -186,7 +186,7 @@ template<typename Scalar> void geometry(void)
Transform3 t4; Transform3 t4;
t4 = aa3; t4 = aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
t4.rotate(AngleAxisx(-a,v3)); t4.rotate(AngleAxisx(-a3,v3));
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity()); VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
v3 = Vector3::Random(); v3 = Vector3::Random();
@ -222,7 +222,7 @@ template<typename Scalar> void geometry(void)
t21.setIdentity(); t21.setIdentity();
t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix(); t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
* (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity(test_precision<Scalar>()) ); * (t21.prescale(v21.cwise().inverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) );
// Transform - new API // Transform - new API
// 3D // 3D