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Matrix product refactoring (rhs products only).

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Added strong inlines required for MSVC for proper inlining.
Added specializations for DiagonalMatrix products to RotationBase.
Added left- and righ-hand-side products with DiagonalMatrix to Transform.
RHS Transform products now return Matrix objects only.
Split the geo_transformations unit test. Some tests were not made for projectivities.
Removed unused variables from main.h that caused warnings.
This commit is contained in:
Hauke Heibel
2010-08-19 19:25:35 +02:00
parent d4b664c4cd
commit 55c7848877
7 changed files with 193 additions and 182 deletions
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24
Eigen/src/Geometry/RotationBase.h
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@@ -56,8 +56,8 @@ class RotationBase
inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
/** \returns an equivalent rotation matrix
* This function is added to be conform with the Transform class' naming scheme.
*/
* This function is added to be conform with the Transform class' naming scheme.
*/
inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
/** \returns the inverse rotation */
@@ -87,6 +87,14 @@ class RotationBase
inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
{ return l.derived() * r.toRotationMatrix(); }
/** \returns the concatenation of a scaling \a l with the rotation \a r */
friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
{
Transform<Scalar,Dim,Affine> res(r);
res.linear().applyOnTheLeft(l);
return res;
}
/** \returns the concatenation of the rotation \c *this with a transformation \a t */
template<int Mode>
inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode>& t) const
@@ -107,6 +115,18 @@ struct ei_rotation_base_generic_product_selector<RotationDerived,MatrixType,fals
{ return r.toRotationMatrix() * m; }
};
template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
struct ei_rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
{
typedef Transform<Scalar,Dim,Affine> ReturnType;
inline static ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
{
ReturnType res(r);
res.linear() *= m;
return res;
}
};
template<typename RotationDerived,typename OtherVectorType>
struct ei_rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
{