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Use true compile time "if" for Transform::makeAffine

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This commit is contained in:
Gael Guennebaud 2014-12-13 22:16:39 +01:00
parent f806c23012
commit b8d9eaa19b
1 changed files with 22 additions and 7 deletions
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29
Eigen/src/Geometry/Transform.h
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@ -78,6 +78,8 @@ struct traits<Transform<_Scalar,_Dim,_Mode,_Options> >
};
};
template<int Mode> struct transform_make_affine;
} // end namespace internal
/** \geometry_module \ingroup Geometry_Module
@ -246,8 +248,7 @@ public:
inline Transform()
{
check_template_params();
if (int(Mode)==Affine)
makeAffine();
internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
}
inline Transform(const Transform& other)
@ -610,11 +611,7 @@ public:
*/
void makeAffine()
{
if(int(Mode)!=int(AffineCompact))
{
matrix().template block<1,Dim>(Dim,0).setZero();
matrix().coeffRef(Dim,Dim) = Scalar(1);
}
internal::transform_make_affine<int(Mode)>::run(m_matrix);
}
/** \internal
@ -1102,6 +1099,24 @@ Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBas
namespace internal {
template<int Mode>
struct transform_make_affine
{
template<typename MatrixType>
static void run(MatrixType &mat)
{
static const int Dim = MatrixType::ColsAtCompileTime-1;
mat.template block<1,Dim>(Dim,0).setZero();
mat.coeffRef(Dim,Dim) = typename MatrixType::Scalar(1);
}
};
template<>
struct transform_make_affine<AffineCompact>
{
template<typename MatrixType> static void run(MatrixType &) { }
};
// selector needed to avoid taking the inverse of a 3x4 matrix
template<typename TransformType, int Mode=TransformType::Mode>
struct projective_transform_inverse