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Make sure that HyperPlane::transform manitains a unit normal vector in the Affine case.

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This commit is contained in:
Gael Guennebaud 2016-12-20 09:35:00 +01:00
parent 27ceb43bf6
commit f5d644b415
2 changed files with 6 additions and 0 deletions
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3
Eigen/src/Geometry/Hyperplane.h
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@ -217,7 +217,10 @@ public:
EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine) EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
{ {
if (traits==Affine) if (traits==Affine)
{
normal() = mat.inverse().transpose() * normal(); normal() = mat.inverse().transpose() * normal();
m_coeffs /= normal().norm();
}
else if (traits==Isometry) else if (traits==Isometry)
normal() = mat * normal(); normal() = mat * normal();
else else

3
test/geo_hyperplane.cpp
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@ -66,12 +66,15 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) ); VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) );
pl2 = pl1; pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) ); VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) );
VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) );
pl2 = pl1; pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation) VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation)
.absDistance((rot*scaling*translation) * p1), Scalar(1) ); .absDistance((rot*scaling*translation) * p1), Scalar(1) );
VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) );
pl2 = pl1; pl2 = pl1;
VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry) VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry)
.absDistance((rot*translation) * p1), Scalar(1) ); .absDistance((rot*translation) * p1), Scalar(1) );
VERIFY_IS_APPROX( pl2.normal().norm(), RealScalar(1) );
} }
// casting // casting