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add affine * homogeneous vector for backward compatibility (e.g.,

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kgllib)
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Gael Guennebaud 2009-03-11 14:32:03 +00:00
parent 02e97ac0ae
commit c6264d9b7e
1 changed files with 23 additions and 0 deletions
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23
Eigen/src/Geometry/Transform.h
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@ -1013,6 +1013,29 @@ struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,1>
{ return tr.linear() * other + 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>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, HDim,1>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef Matrix<typename Other::Scalar,HDim,1> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.matrix() * other; }
};
template<typename Other, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,AffineCompact, Dim,HDim, HDim,1>
{
typedef Transform<typename Other::Scalar,Dim,AffineCompact> TransformType;
typedef Matrix<typename Other::Scalar,HDim,1> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{
ResultType res;
res.template start<HDim>() = tr.matrix() * other;
res.coeffRef(Dim) = other.coeff(Dim);
}
};
// T * linear matrix => T
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,Dim>