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bug #1461: fix compilation of Map<const Quaternion>::x()

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This commit is contained in:
Gael Guennebaud 2017-08-22 15:10:42 +02:00
parent fc39d5954b
commit bc91a2df8b
2 changed files with 30 additions and 12 deletions
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29
Eigen/src/Geometry/Quaternion.h
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@ -43,6 +43,11 @@ class QuaternionBase : public RotationBase<Derived, 3>
typedef typename internal::traits<Derived>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef typename internal::traits<Derived>::Coefficients Coefficients;
typedef typename Coefficients::CoeffReturnType CoeffReturnType;
typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
Scalar&, CoeffReturnType>::type NonConstCoeffReturnType;
enum {
Flags = Eigen::internal::traits<Derived>::Flags
};
@ -58,22 +63,22 @@ class QuaternionBase : public RotationBase<Derived, 3>
/** \returns the \c x coefficient */
EIGEN_DEVICE_FUNC inline Scalar x() const { return this->derived().coeffs().coeff(0); }
EIGEN_DEVICE_FUNC inline CoeffReturnType x() const { return this->derived().coeffs().coeff(0); }
/** \returns the \c y coefficient */
EIGEN_DEVICE_FUNC inline Scalar y() const { return this->derived().coeffs().coeff(1); }
EIGEN_DEVICE_FUNC inline CoeffReturnType y() const { return this->derived().coeffs().coeff(1); }
/** \returns the \c z coefficient */
EIGEN_DEVICE_FUNC inline Scalar z() const { return this->derived().coeffs().coeff(2); }
EIGEN_DEVICE_FUNC inline CoeffReturnType z() const { return this->derived().coeffs().coeff(2); }
/** \returns the \c w coefficient */
EIGEN_DEVICE_FUNC inline Scalar w() const { return this->derived().coeffs().coeff(3); }
EIGEN_DEVICE_FUNC inline CoeffReturnType w() const { return this->derived().coeffs().coeff(3); }
/** \returns a reference to the \c x coefficient */
EIGEN_DEVICE_FUNC inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
/** \returns a reference to the \c y coefficient */
EIGEN_DEVICE_FUNC inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
/** \returns a reference to the \c z coefficient */
EIGEN_DEVICE_FUNC inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
/** \returns a reference to the \c w coefficient */
EIGEN_DEVICE_FUNC inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
/** \returns a reference to the \c x coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType x() { return this->derived().coeffs().x(); }
/** \returns a reference to the \c y coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType y() { return this->derived().coeffs().y(); }
/** \returns a reference to the \c z coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType z() { return this->derived().coeffs().z(); }
/** \returns a reference to the \c w coefficient (if Derived is a non-const lvalue) */
EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }
/** \returns a read-only vector expression of the imaginary part (x,y,z) */
EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }

13
test/geo_quaternion.cpp
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@ -231,6 +231,19 @@ template<typename Scalar> void mapQuaternion(void){
VERIFY_IS_APPROX(mq3*mq2, q3*q2);
VERIFY_IS_APPROX(mcq1*mq2, q1*q2);
VERIFY_IS_APPROX(mcq3*mq2, q3*q2);
// Bug 1461, compilation issue with Map<const Quat>::w(), and other reference/constness checks:
VERIFY_IS_APPROX(mcq3.coeffs().x() + mcq3.coeffs().y() + mcq3.coeffs().z() + mcq3.coeffs().w(), mcq3.coeffs().sum());
VERIFY_IS_APPROX(mcq3.x() + mcq3.y() + mcq3.z() + mcq3.w(), mcq3.coeffs().sum());
mq3.w() = 1;
const Quaternionx& cq3(q3);
VERIFY( &cq3.x() == &q3.x() );
const MQuaternionUA& cmq3(mq3);
VERIFY( &cmq3.x() == &mq3.x() );
// FIXME the following should be ok. The problem is that currently the LValueBit flag
// is used to determine wether we can return a coeff by reference or not, which is not enough for Map<const ...>.
//const MCQuaternionUA& cmcq3(mcq3);
//VERIFY( &cmcq3.x() == &mcq3.x() );
}
template<typename Scalar> void quaternionAlignment(void){