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* implement the corner() API change: new methods topLeftCorner() etc

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* get rid of BlockReturnType: it was not needed, and code was not always using it consistently anyway
* add topRows(), leftCols(), bottomRows(), rightCols()
* add corners unit-test covering all of that
* adapt docs, expand "porting from eigen 2 to 3"
* adapt Eigen2Support
This commit is contained in:
Benoit Jacob
2010-04-22 14:11:18 -04:00
parent 28dde19e40
commit 9962c59b56
37 changed files with 820 additions and 350 deletions
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13
Eigen/src/Geometry/Transform.h
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@@ -653,7 +653,7 @@ Transform<Scalar,Dim,Mode>::prescale(const MatrixBase<OtherDerived> &other)
template<typename Scalar, int Dim, int Mode>
inline Transform<Scalar,Dim,Mode>& Transform<Scalar,Dim,Mode>::prescale(Scalar s)
{
m_matrix.template corner<Dim,HDim>(TopLeft) *= s;
m_matrix.template topRows<Dim>() *= s;
return *this;
}
@@ -940,18 +940,19 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
{
if (hint == Isometry)
{
res.matrix().template corner<Dim,Dim>(TopLeft) = linear().transpose();
res.matrix().template topLeftCorner<Dim,Dim>() = linear().transpose();
}
else if(hint&Affine)
{
res.matrix().template corner<Dim,Dim>(TopLeft) = linear().inverse();
res.matrix().template topLeftCorner<Dim,Dim>() = linear().inverse();
}
else
{
ei_assert(false && "Invalid transform traits in Transform::Inverse");
}
// translation and remaining parts
res.matrix().template corner<Dim,1>(TopRight) = - res.matrix().template corner<Dim,Dim>(TopLeft) * translation();
res.matrix().template topRightCorner<Dim,1>()
= - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
if(int(Mode)!=int(AffineCompact))
{
res.matrix().template block<1,Dim>(Dim,0).setZero();
@@ -1247,8 +1248,8 @@ struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, Dim,Dim>
TransformType res;
if(Mode!=AffineCompact)
res.matrix().row(Dim) = tr.matrix().row(Dim);
res.matrix().template corner<Dim,HDim>(TopLeft).noalias()
= other * tr.matrix().template corner<Dim,HDim>(TopLeft);
res.matrix().template topRows<Dim>().noalias()
= other * tr.matrix().template topRows<Dim>();
return res;
}
};

2
Eigen/src/Geometry/Umeyama.h
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@@ -171,7 +171,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Note that we first assign dst_mean to the destination so that there no need
// for a temporary.
Rt.col(m).head(m) = dst_mean;
Rt.col(m).head(m).noalias() -= c*Rt.corner(TopLeft,m,m)*src_mean;
Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
if (with_scaling) Rt.block(0,0,m,m) *= c;