diff options
Diffstat (limited to 'extern/Eigen3/Eigen/src/Geometry/Transform.h')
| -rw-r--r-- | extern/Eigen3/Eigen/src/Geometry/Transform.h | 115 |
1 files changed, 65 insertions, 50 deletions
diff --git a/extern/Eigen3/Eigen/src/Geometry/Transform.h b/extern/Eigen3/Eigen/src/Geometry/Transform.h index a694673ebed..4c1ef8eaade 100644 --- a/extern/Eigen3/Eigen/src/Geometry/Transform.h +++ b/extern/Eigen3/Eigen/src/Geometry/Transform.h @@ -5,28 +5,15 @@ // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com> // Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com> // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see <http://www.gnu.org/licenses/>. +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #ifndef EIGEN_TRANSFORM_H #define EIGEN_TRANSFORM_H +namespace Eigen { + namespace internal { template<typename Transform> @@ -37,7 +24,7 @@ struct transform_traits Dim = Transform::Dim, HDim = Transform::HDim, Mode = Transform::Mode, - IsProjective = (Mode==Projective) + IsProjective = (int(Mode)==int(Projective)) }; }; @@ -207,9 +194,9 @@ 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> LinearPart; + typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact)> LinearPart; /** type of read reference to the linear part of the transformation */ - typedef const Block<ConstMatrixType,Dim,Dim> ConstLinearPart; + typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact)> ConstLinearPart; /** type of read/write reference to the affine part of the transformation */ typedef typename internal::conditional<int(Mode)==int(AffineCompact), MatrixType&, @@ -221,9 +208,9 @@ public: /** type of a vector */ typedef Matrix<Scalar,Dim,1> VectorType; /** type of a read/write reference to the translation part of the rotation */ - typedef Block<MatrixType,Dim,1> TranslationPart; + typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart; /** type of a read reference to the translation part of the rotation */ - typedef const Block<ConstMatrixType,Dim,1> ConstTranslationPart; + typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart; /** corresponding translation type */ typedef Translation<Scalar,Dim> TranslationType; @@ -279,6 +266,9 @@ public: template<typename OtherDerived> inline explicit Transform(const EigenBase<OtherDerived>& other) { + EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY); + check_template_params(); internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived()); } @@ -287,6 +277,9 @@ public: template<typename OtherDerived> inline Transform& operator=(const EigenBase<OtherDerived>& other) { + EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value), + YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY); + internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived()); return *this; } @@ -376,9 +369,9 @@ public: inline MatrixType& matrix() { return m_matrix; } /** \returns a read-only expression of the linear part of the transformation */ - inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); } + inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); } /** \returns a writable expression of the linear part of the transformation */ - inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); } + inline LinearPart linear() { return LinearPart(m_matrix,0,0); } /** \returns a read-only expression of the Dim x HDim affine part of the transformation */ inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); } @@ -386,9 +379,9 @@ public: inline AffinePart affine() { return take_affine_part::run(m_matrix); } /** \returns a read-only expression of the translation vector of the transformation */ - inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); } + inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); } /** \returns a writable expression of the translation vector of the transformation */ - inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); } + inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); } /** \returns an expression of the product between the transform \c *this and a matrix expression \a other * @@ -460,15 +453,40 @@ public: { return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other); } - + + #ifdef __INTEL_COMPILER +private: + // this intermediate structure permits to workaround a bug in ICC 11: + // error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0> + // (const Eigen::Transform<double, 3, 2, 0> &) const" + // (the meaning of a name may have changed since the template declaration -- the type of the template is: + // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>, + // Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode, Options> &) const") + // + template<int OtherMode,int OtherOptions> struct icc_11_workaround + { + typedef internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> > ProductType; + typedef typename ProductType::ResultType ResultType; + }; + +public: + /** Concatenates two different transformations */ + template<int OtherMode,int OtherOptions> + inline typename icc_11_workaround<OtherMode,OtherOptions>::ResultType + operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const + { + typedef typename icc_11_workaround<OtherMode,OtherOptions>::ProductType ProductType; + return ProductType::run(*this,other); + } + #else /** Concatenates two different transformations */ template<int OtherMode,int OtherOptions> - inline const typename internal::transform_transform_product_impl< - Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType + inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const { return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other); } + #endif /** \sa MatrixBase::setIdentity() */ void setIdentity() { m_matrix.setIdentity(); } @@ -512,7 +530,12 @@ public: inline Transform& operator=(const UniformScaling<Scalar>& t); inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); } - inline Transform operator*(const UniformScaling<Scalar>& s) const; + inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry)> operator*(const UniformScaling<Scalar>& s) const + { + Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry),Options> res = *this; + res.scale(s.factor()); + return res; + } inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; } @@ -571,7 +594,7 @@ public: if(int(Mode)!=int(AffineCompact)) { matrix().template block<1,Dim>(Dim,0).setZero(); - matrix().coeffRef(Dim,Dim) = 1; + matrix().coeffRef(Dim,Dim) = Scalar(1); } } @@ -608,7 +631,7 @@ public: protected: #ifndef EIGEN_PARSED_BY_DOXYGEN - EIGEN_STRONG_INLINE static void check_template_params() + static EIGEN_STRONG_INLINE void check_template_params() { EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS) } @@ -941,14 +964,6 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o } template<typename Scalar, int Dim, int Mode, int Options> -inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const UniformScaling<Scalar>& s) const -{ - Transform res = *this; - res.scale(s.factor()); - return res; -} - -template<typename Scalar, int Dim, int Mode, int Options> template<typename Derived> inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r) { @@ -1219,7 +1234,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 0 > { typedef typename MatrixType::PlainObject ResultType; - EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other) + static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) { return T.matrix() * other; } @@ -1237,11 +1252,11 @@ struct transform_right_product_impl< TransformType, MatrixType, 1 > typedef typename MatrixType::PlainObject ResultType; - EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other) + static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) { EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES); - typedef Block<ResultType, Dim, OtherCols> TopLeftLhs; + typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim> TopLeftLhs; ResultType res(other.rows(),other.cols()); TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other; @@ -1263,15 +1278,13 @@ struct transform_right_product_impl< TransformType, MatrixType, 2 > typedef typename MatrixType::PlainObject ResultType; - EIGEN_STRONG_INLINE static ResultType run(const TransformType& T, const MatrixType& other) + static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other) { EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES); - typedef Block<ResultType, Dim, OtherCols> TopLeftLhs; - - ResultType res(other.rows(),other.cols()); - TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.linear() * other; - TopLeftLhs(res, 0, 0, Dim, other.cols()).colwise() += T.translation(); + typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs; + ResultType res(Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(),1,other.cols())); + TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other; return res; } @@ -1422,4 +1435,6 @@ struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptio } // end namespace internal +} // end namespace Eigen + #endif // EIGEN_TRANSFORM_H |