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fix #1 : need to nest by value the affine part in homogeneous product

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This commit is contained in:
Gael Guennebaud
2009-05-18 17:55:50 +02:00
parent e0832d5d93
commit e186728867
4 changed files with 31 additions and 16 deletions
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4
Eigen/src/Geometry/Homogeneous.h
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@@ -102,11 +102,11 @@ template<typename MatrixType,int Direction> class Homogeneous
template<typename Scalar, int Dim, int Mode> friend
inline const ei_homogeneous_left_product_impl<Homogeneous,
typename Transform<Scalar,Dim,Mode>::AffinePart>
typename Transform<Scalar,Dim,Mode>::AffinePartNested>
operator* (const Transform<Scalar,Dim,Mode>& tr, const Homogeneous& rhs)
{
ei_assert(Direction==Vertical);
return ei_homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Mode>::AffinePart>
return ei_homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Mode>::AffinePartNested >
(tr.affine(),rhs.m_matrix);
}

4
Eigen/src/Geometry/Transform.h
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@@ -184,6 +184,10 @@ public:
typedef typename ei_meta_if<int(Mode)==int(AffineCompact),
MatrixType&,
Block<MatrixType,Dim,HDim> >::ret AffinePart;
/** type of read/write reference to the affine part of the transformation */
typedef typename ei_meta_if<int(Mode)==int(AffineCompact),
MatrixType&,
NestByValue<Block<MatrixType,Dim,HDim> > >::ret AffinePartNested;
/** type of a vector */
typedef Matrix<Scalar,Dim,1> VectorType;
/** type of a read/write reference to the translation part of the rotation */