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fix #1 : need to nest by value the affine part in homogeneous product

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This commit is contained in:
Gael Guennebaud 2009-05-18 17:55:50 +02:00
parent e0832d5d93
commit e186728867
4 changed files with 31 additions and 16 deletions
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4
Eigen/src/Geometry/Homogeneous.h
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@ -102,11 +102,11 @@ template<typename MatrixType,int Direction> class Homogeneous
template<typename Scalar, int Dim, int Mode> friend template<typename Scalar, int Dim, int Mode> friend
inline const ei_homogeneous_left_product_impl<Homogeneous, inline const ei_homogeneous_left_product_impl<Homogeneous,
typename Transform<Scalar,Dim,Mode>::AffinePart> typename Transform<Scalar,Dim,Mode>::AffinePartNested>
operator* (const Transform<Scalar,Dim,Mode>& tr, const Homogeneous& rhs) operator* (const Transform<Scalar,Dim,Mode>& tr, const Homogeneous& rhs)
{ {
ei_assert(Direction==Vertical); ei_assert(Direction==Vertical);
return ei_homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Mode>::AffinePart> return ei_homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Mode>::AffinePartNested >
(tr.affine(),rhs.m_matrix); (tr.affine(),rhs.m_matrix);
} }

4
Eigen/src/Geometry/Transform.h
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@ -184,6 +184,10 @@ public:
typedef typename ei_meta_if<int(Mode)==int(AffineCompact), typedef typename ei_meta_if<int(Mode)==int(AffineCompact),
MatrixType&, MatrixType&,
Block<MatrixType,Dim,HDim> >::ret AffinePart; Block<MatrixType,Dim,HDim> >::ret AffinePart;
/** type of read/write reference to the affine part of the transformation */
typedef typename ei_meta_if<int(Mode)==int(AffineCompact),
MatrixType&,
NestByValue<Block<MatrixType,Dim,HDim> > >::ret AffinePartNested;
/** type of a vector */ /** type of a vector */
typedef Matrix<Scalar,Dim,1> VectorType; typedef Matrix<Scalar,Dim,1> VectorType;
/** type of a read/write reference to the translation part of the rotation */ /** type of a read/write reference to the translation part of the rotation */

11
test/geo_homogeneous.cpp
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@ -88,6 +88,17 @@ template<typename Scalar,int Size> void homogeneous(void)
v0.transpose().rowwise().homogeneous() * t3); v0.transpose().rowwise().homogeneous() * t3);
VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3, VERIFY_IS_APPROX((m0.transpose().rowwise().homogeneous().eval()) * t3,
m0.transpose().rowwise().homogeneous() * t3); m0.transpose().rowwise().homogeneous() * t3);
// test product with a Transform object
Transform<Scalar, Size, Affine> Rt;
Matrix<Scalar, Size, Dynamic> pts, Rt_pts1;
Rt.setIdentity();
pts.setRandom(Size,5);
Rt_pts1 = Rt * pts.colwise().homogeneous();
std::cerr << (Rt_pts1 - pts).sum() << "\n";
VERIFY_IS_MUCH_SMALLER_THAN( (Rt_pts1 - pts).sum(), Scalar(1));
} }
void test_geo_homogeneous() void test_geo_homogeneous()