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Use more .noalias()

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This commit is contained in:
Markus Vieth
2025-03-17 19:32:43 +01:00
parent 14f845a1a8
commit 0259a52b0e
6 changed files with 15 additions and 14 deletions
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9
Eigen/src/Geometry/Transform.h
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@@ -1059,11 +1059,11 @@ EIGEN_DEVICE_FUNC void Transform<Scalar, Dim, Mode, Options>::computeRotationSca
: Scalar(1); // so x has absolute value 1
VectorType sv(svd.singularValues());
sv.coeffRef(Dim - 1) *= x;
if (scaling) *scaling = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
if (scaling) (*scaling).noalias() = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
if (rotation) {
LinearMatrixType m(svd.matrixU());
m.col(Dim - 1) *= x;
*rotation = m * svd.matrixV().adjoint();
(*rotation).noalias() = m * svd.matrixV().adjoint();
}
}
@@ -1182,7 +1182,8 @@ EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options> Transform<Scalar, Dim, M
eigen_assert(false && "Invalid transform traits in Transform::Inverse");
}
// translation and remaining parts
res.matrix().template topRightCorner<Dim, 1>() = -res.matrix().template topLeftCorner<Dim, Dim>() * translation();
res.matrix().template topRightCorner<Dim, 1>().noalias() =
-res.matrix().template topLeftCorner<Dim, Dim>() * translation();
res.makeAffine(); // we do need this, because in the beginning res is uninitialized
}
return res;
@@ -1432,7 +1433,7 @@ struct transform_transform_product_impl<Transform<Scalar, Dim, LhsMode, LhsOptio
typedef Transform<Scalar, Dim, ResultMode, LhsOptions> ResultType;
static EIGEN_DEVICE_FUNC ResultType run(const Lhs& lhs, const Rhs& rhs) {
ResultType res;
res.linear() = lhs.linear() * rhs.linear();
res.linear().noalias() = lhs.linear() * rhs.linear();
res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
res.makeAffine();
return res;