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optimization: spare the 3x3 matrix product in

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fromPositionOrientationScale
This commit is contained in:
Benoit Jacob 2008-08-24 20:50:18 +00:00
parent 6a36b5a6e0
commit d3529e9c40
1 changed files with 1 additions and 1 deletions
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2
Eigen/src/Geometry/Transform.h
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@ -388,10 +388,10 @@ Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDer
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale) const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
{ {
linear() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation); linear() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation);
for(int i = 0; i < Dim; i++) linear().col(i) *= scale.coeff(i);
translation() = position; translation() = position;
m_matrix(Dim,Dim) = 1.; m_matrix(Dim,Dim) = 1.;
m_matrix.template block<1,Dim>(Dim,0).setZero(); m_matrix.template block<1,Dim>(Dim,0).setZero();
linear() *= scale.asDiagonal();
return *this; return *this;
} }