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Make Transform::rotation() an alias to Transform::linear() in the case of an Isometry

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This commit is contained in:
Gael Guennebaud 2019-01-15 22:50:42 +01:00
parent 2c2c114995
commit 2b70b2f570
2 changed files with 34 additions and 5 deletions
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35
Eigen/src/Geometry/Transform.h
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@ -605,7 +605,9 @@ public:
template<typename Derived> template<typename Derived>
EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const; EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const; typedef typename internal::conditional<int(Mode)==Isometry,ConstLinearPart,const LinearMatrixType>::type RotationReturnType;
EIGEN_DEVICE_FUNC RotationReturnType rotation() const;
template<typename RotationMatrixType, typename ScalingMatrixType> template<typename RotationMatrixType, typename ScalingMatrixType>
EIGEN_DEVICE_FUNC EIGEN_DEVICE_FUNC
void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const; void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
@ -1049,20 +1051,43 @@ EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim
*** Special functions *** *** Special functions ***
************************/ ************************/
namespace internal {
template<int Mode> struct transform_rotation_impl {
template<typename TransformType>
EIGEN_DEVICE_FUNC static inline
const typename TransformType::LinearMatrixType run(const TransformType& t)
{
typedef typename TransformType::LinearMatrixType LinearMatrixType;
LinearMatrixType result;
t.computeRotationScaling(&result, (LinearMatrixType*)0);
return result;
}
};
template<> struct transform_rotation_impl<Isometry> {
template<typename TransformType>
EIGEN_DEVICE_FUNC static inline
typename TransformType::ConstLinearPart run(const TransformType& t)
{
return t.linear();
}
};
}
/** \returns the rotation part of the transformation /** \returns the rotation part of the transformation
* *
* If Mode==Isometry, then this method is an alias for linear(),
* otherwise it calls computeRotationScaling() to extract the rotation
* through a SVD decomposition.
* *
* \svd_module * \svd_module
* *
* \sa computeRotationScaling(), computeScalingRotation(), class SVD * \sa computeRotationScaling(), computeScalingRotation(), class SVD
*/ */
template<typename Scalar, int Dim, int Mode, int Options> template<typename Scalar, int Dim, int Mode, int Options>
EIGEN_DEVICE_FUNC const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType EIGEN_DEVICE_FUNC
typename Transform<Scalar,Dim,Mode,Options>::RotationReturnType
Transform<Scalar,Dim,Mode,Options>::rotation() const Transform<Scalar,Dim,Mode,Options>::rotation() const
{ {
LinearMatrixType result; return internal::transform_rotation_impl<Mode>::run(*this);
computeRotationScaling(&result, (LinearMatrixType*)0);
return result;
} }

4
test/geo_transformations.cpp
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@ -666,6 +666,10 @@ template<typename Scalar, int Mode, int Options> void transformations_no_scale()
VERIFY((m3 * m3.inverse()).isIdentity(test_precision<Scalar>())); VERIFY((m3 * m3.inverse()).isIdentity(test_precision<Scalar>()));
// Verify implicit last row is initialized. // Verify implicit last row is initialized.
VERIFY_IS_APPROX(Vector4(m3.row(3)), Vector4(0.0, 0.0, 0.0, 1.0)); VERIFY_IS_APPROX(Vector4(m3.row(3)), Vector4(0.0, 0.0, 0.0, 1.0));
VERIFY_IS_APPROX(t3.rotation(), t3.linear());
if(Mode==Isometry)
VERIFY(t3.rotation().data()==t3.linear().data());
} }
EIGEN_DECLARE_TEST(geo_transformations) EIGEN_DECLARE_TEST(geo_transformations)