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fixed inversion for AffineCompact matrices

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This commit is contained in:
Hauke Heibel 2009-08-06 12:25:18 +02:00
parent 56d00779db
commit c2861dd41a
1 changed files with 5 additions and 2 deletions
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7
Eigen/src/Geometry/Transform.h
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@ -911,8 +911,11 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
} }
// translation and remaining parts // translation and remaining parts
res.template corner<Dim,1>(TopRight) = - res.template corner<Dim,Dim>(TopLeft) * translation(); res.template corner<Dim,1>(TopRight) = - res.template corner<Dim,Dim>(TopLeft) * translation();
res.template corner<1,Dim>(BottomLeft).setZero(); if (int(Mode)!=AffineCompact)
res.coeffRef(Dim,Dim) = Scalar(1); {
res.template corner<1,Dim>(BottomLeft).setZero();
res.coeffRef(Dim,Dim) = Scalar(1);
}
return res; return res;
} }
} }