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add the missing Affine Transform * set of column vectors products...

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Gael Guennebaud 2009-08-06 11:02:03 +02:00
parent 0744638b6f
commit b9b17ea5a5
1 changed files with 11 additions and 0 deletions
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11
Eigen/src/Geometry/Transform.h
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@ -1034,6 +1034,17 @@ struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,1>
{ return tr.linear() * other + tr.translation(); }
};
// Affine * set of column vectors
// FIXME use a ReturnByValue to remove the temporary
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,Dynamic>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef Matrix<typename Other::Scalar,Dim,Dynamic> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return (tr.linear() * other).colwise() + tr.translation(); }
};
// Affine * homogeneous column vector
// FIXME added for backward compatibility, but I'm not sure we should keep it
template<typename Other, int Mode, int Dim, int HDim>