devtools/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2026-04-10 11:34:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

more MSVC fixes, and more code factorization in Geometry module

Browse Source
This commit is contained in:
Gael Guennebaud
2009-01-29 09:36:48 +00:00
parent 36c8a64923
commit 1752a3a677
3 changed files with 44 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
Eigen/src/Geometry/RotationBase.h
View File

@@ -42,10 +42,31 @@ class RotationBase
enum { Dim = _Dim };
/** the scalar type of the coefficients */
typedef typename ei_traits<Derived>::Scalar Scalar;
/** corresponding linear transformation matrix type */
typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
typedef Matrix<Scalar,Dim,1> VectorType;
protected:
template<typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
struct generic_product_selector
{
typedef RotationMatrixType ReturnType;
inline static RotationMatrixType run(const Derived& r, const MatrixType& m)
{ return r.toRotationMatrix() * m; }
};
template<typename OtherVectorType>
struct generic_product_selector<OtherVectorType,true>
{
typedef VectorType ReturnType;
inline static VectorType run(const Derived& r, const OtherVectorType& v)
{
return r._transformVector(v);
}
};
public:
inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
inline Derived& derived() { return *static_cast<Derived*>(this); }
@@ -62,12 +83,17 @@ class RotationBase
/** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
{ return toRotationMatrix() * s.factor(); }
/** \returns the concatenation of the rotation \c *this with a linear transformation \a l */
/** \returns the concatenation of the rotation \c *this with a generic expression \a e
* \a e can be:
* - a DimxDim linear transformation matrix (including an axis aligned scaling)
* - a vector of size Dim
*/
template<typename OtherDerived>
inline RotationMatrixType operator*(const MatrixBase<OtherDerived>& l) const
{ return toRotationMatrix() * l.derived(); }
inline typename generic_product_selector<OtherDerived>::ReturnType
operator*(const MatrixBase<OtherDerived>& e) const
{ return generic_product_selector<OtherDerived>::run(derived(), e.derived()); }
/** \returns the concatenation of a linear transformation \a l with the rotation \a r */
template<typename OtherDerived> friend
inline RotationMatrixType operator*(const MatrixBase<OtherDerived>& l, const Derived& r)
@@ -76,6 +102,10 @@ class RotationBase
/** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
{ return toRotationMatrix() * t; }
template<typename OtherVectorType>
inline VectorType _transformVector(const OtherVectorType& v) const
{ return toRotationMatrix() * v; }
};
/** \geometry_module