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* fix in IO.h, a useless copy was made because of assignment from

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Derived to MatrixBase.
* the optimization of eval() for Matrix now consists in a partial
  specialization of ei_eval, which returns a reference type for Matrix.
  No overriding of eval() in Matrix anymore. Consequence: careful,
  ei_eval is no longer guaranteed to give a plain matrix type!
  For that, use ei_plain_matrix_type, or the PlainMatrixType typedef.
* so lots of changes to adapt to that everywhere. Hope this doesn't
  break (too much) MSVC compilation.
* add code examples for the new image() stuff.
* lower a bit the precision for floats in the unit tests as
  we were already doing some workarounds in inverse.cpp and we got some
  failed tests.
This commit is contained in:
Benoit Jacob
2008-12-18 20:36:25 +00:00
parent b27a3644a2
commit fabaa6915b
24 changed files with 133 additions and 77 deletions
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10
Eigen/src/Geometry/OrthoMethods.h
View File

@@ -34,7 +34,7 @@
*/
template<typename Derived>
template<typename OtherDerived>
inline typename MatrixBase<Derived>::EvalType
inline typename MatrixBase<Derived>::PlainMatrixType
MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
@@ -43,7 +43,7 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
// optimize such a small temporary very well (even within a complex expression)
const typename ei_nested<Derived,2>::type lhs(derived());
const typename ei_nested<OtherDerived,2>::type rhs(other.derived());
return typename ei_eval<Derived>::type(
return typename ei_plain_matrix_type<Derived>::type(
lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1),
lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2),
lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)
@@ -53,7 +53,7 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
template<typename Derived, int Size = Derived::SizeAtCompileTime>
struct ei_unitOrthogonal_selector
{
typedef typename ei_eval<Derived>::type VectorType;
typedef typename ei_plain_matrix_type<Derived>::type VectorType;
typedef typename ei_traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
inline static VectorType run(const Derived& src)
@@ -96,7 +96,7 @@ struct ei_unitOrthogonal_selector
template<typename Derived>
struct ei_unitOrthogonal_selector<Derived,2>
{
typedef typename ei_eval<Derived>::type VectorType;
typedef typename ei_plain_matrix_type<Derived>::type VectorType;
inline static VectorType run(const Derived& src)
{ return VectorType(-ei_conj(src.y()), ei_conj(src.x())).normalized(); }
};
@@ -109,7 +109,7 @@ struct ei_unitOrthogonal_selector<Derived,2>
* \sa cross()
*/
template<typename Derived>
typename MatrixBase<Derived>::EvalType
typename MatrixBase<Derived>::PlainMatrixType
MatrixBase<Derived>::unitOrthogonal() const
{
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)

6
Eigen/src/Geometry/Transform.h
View File

@@ -548,7 +548,7 @@ inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const ScalingType
{
m_matrix.setZero();
linear().diagonal() = s.coeffs();
m_matrix(Dim,Dim) = Scalar(1);
m_matrix.coeffRef(Dim,Dim) = Scalar(1);
return *this;
}
@@ -567,7 +567,7 @@ inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const RotationBas
linear() = ei_toRotationMatrix<Scalar,Dim>(r);
translation().setZero();
m_matrix.template block<1,Dim>(Dim,0).setZero();
m_matrix(Dim,Dim) = Scalar(1);
m_matrix.coeffRef(Dim,Dim) = Scalar(1);
return *this;
}
@@ -610,7 +610,7 @@ Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
LinearMatrixType matQ = qr.matrixQ();
LinearMatrixType matR = qr.matrixR();
for (int i=0 ; i<Dim; ++i)
if (matR(i,i)<0)
if (matR.coeff(i,i)<0)
matQ.col(i) = -matQ.col(i);
return matQ;
}