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Transform is now per default Projective.

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Improved invert() in the Transform class.
RotationBase offers matrix() to be conform with Transform's naming scheme.
Added Translation::translation() to be conform with Transform's naming scheme.
This commit is contained in:
Hauke Heibel 2010-07-29 15:54:32 +02:00
parent 2f0e8904f1
commit 6b89ee0095
4 changed files with 9 additions and 6 deletions
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2
Eigen/src/Core/util/ForwardDeclarations.h
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@ -180,7 +180,7 @@ template<typename Derived> class QuaternionBase;
template<typename Scalar> class Quaternion;
template<typename Scalar> class Rotation2D;
template<typename Scalar> class AngleAxis;
template<typename Scalar,int Dim,int Mode=Affine> class Transform;
template<typename Scalar,int Dim,int Mode=Projective> class Transform;
template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
template <typename _Scalar, int _AmbientDim> class Hyperplane;
template<typename Scalar,int Dim> class Translation;

5
Eigen/src/Geometry/RotationBase.h
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@ -55,6 +55,11 @@ class RotationBase
/** \returns an equivalent rotation matrix */
inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
/** \returns an equivalent rotation matrix
* This function is added to be conform with the Transform class' naming scheme.
*/
inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
/** \returns the inverse rotation */
inline Derived inverse() const { return derived().inverse(); }

5
Eigen/src/Geometry/Transform.h
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@ -954,11 +954,6 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
// translation and remaining parts
res.matrix().template topRightCorner<Dim,1>()
= - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
if(int(Mode)!=int(AffineCompact))
{
res.matrix().template block<1,Dim>(Dim,0).setZero();
res.matrix().coeffRef(Dim,Dim) = 1;
}
}
return res;
}

3
Eigen/src/Geometry/Translation.h
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@ -98,6 +98,9 @@ public:
const VectorType& vector() const { return m_coeffs; }
VectorType& vector() { return m_coeffs; }
const VectorType& translation() const { return m_coeffs; }
VectorType& translation() { return m_coeffs; }
/** Concatenates two translation */
inline Translation operator* (const Translation& other) const
{ return Translation(m_coeffs + other.m_coeffs); }