diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/Transform.h')
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Transform.h | 33 |
1 files changed, 24 insertions, 9 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/Transform.h b/extern/Eigen3/Eigen/src/Geometry/Transform.h index 498fea41a90..e786e535695 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Transform.h +++ b/extern/Eigen3/Eigen/src/Geometry/Transform.h @@ -62,6 +62,8 @@ struct transform_construct_from_matrix; template<typename TransformType> struct transform_take_affine_part; +template<int Mode> struct transform_make_affine; + } // end namespace internal /** \geometry_module \ingroup Geometry_Module @@ -194,9 +196,9 @@ public: /** type of the matrix used to represent the linear part of the transformation */ typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType; /** type of read/write reference to the linear part of the transformation */ - typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact)> LinearPart; + typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> LinearPart; /** type of read reference to the linear part of the transformation */ - typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact)> ConstLinearPart; + typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> ConstLinearPart; /** type of read/write reference to the affine part of the transformation */ typedef typename internal::conditional<int(Mode)==int(AffineCompact), MatrixType&, @@ -230,8 +232,7 @@ public: inline Transform() { check_template_params(); - if (int(Mode)==Affine) - makeAffine(); + internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix); } inline Transform(const Transform& other) @@ -591,11 +592,7 @@ public: */ void makeAffine() { - if(int(Mode)!=int(AffineCompact)) - { - matrix().template block<1,Dim>(Dim,0).setZero(); - matrix().coeffRef(Dim,Dim) = Scalar(1); - } + internal::transform_make_affine<int(Mode)>::run(m_matrix); } /** \internal @@ -1079,6 +1076,24 @@ Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBas namespace internal { +template<int Mode> +struct transform_make_affine +{ + template<typename MatrixType> + static void run(MatrixType &mat) + { + static const int Dim = MatrixType::ColsAtCompileTime-1; + mat.template block<1,Dim>(Dim,0).setZero(); + mat.coeffRef(Dim,Dim) = typename MatrixType::Scalar(1); + } +}; + +template<> +struct transform_make_affine<AffineCompact> +{ + template<typename MatrixType> static void run(MatrixType &) { } +}; + // selector needed to avoid taking the inverse of a 3x4 matrix template<typename TransformType, int Mode=TransformType::Mode> struct projective_transform_inverse |