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Use true compile time "if" for Transform::makeAffine

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This commit is contained in:
Gael Guennebaud 2014-12-13 22:16:39 +01:00
parent 1e109e1757
commit 26977e281e
1 changed files with 22 additions and 7 deletions
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29
Eigen/src/Geometry/Transform.h
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@ -62,6 +62,8 @@ struct transform_construct_from_matrix;
template<typename TransformType> struct transform_take_affine_part; template<typename TransformType> struct transform_take_affine_part;
template<int Mode> struct transform_make_affine;
} // end namespace internal } // end namespace internal
/** \geometry_module \ingroup Geometry_Module /** \geometry_module \ingroup Geometry_Module
@ -230,8 +232,7 @@ public:
inline Transform() inline Transform()
{ {
check_template_params(); check_template_params();
if (int(Mode)==Affine) internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
makeAffine();
} }
inline Transform(const Transform& other) inline Transform(const Transform& other)
@ -591,11 +592,7 @@ public:
*/ */
void makeAffine() void makeAffine()
{ {
if(int(Mode)!=int(AffineCompact)) internal::transform_make_affine<int(Mode)>::run(m_matrix);
{
matrix().template block<1,Dim>(Dim,0).setZero();
matrix().coeffRef(Dim,Dim) = Scalar(1);
}
} }
/** \internal /** \internal
@ -1079,6 +1076,24 @@ Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBas
namespace internal { 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 // selector needed to avoid taking the inverse of a 3x4 matrix
template<typename TransformType, int Mode=TransformType::Mode> template<typename TransformType, int Mode=TransformType::Mode>
struct projective_transform_inverse struct projective_transform_inverse