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Safeguarded some Transform functions with compile time asserts.

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Added missing static Identity() to Rotation2D, AngleAxis.
This commit is contained in:
Hauke Heibel 2010-07-29 16:17:42 +02:00
parent 6b89ee0095
commit e92993d7b9
4 changed files with 17 additions and 6 deletions
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3
Eigen/src/Core/util/StaticAssert.h
View File

@ -86,7 +86,8 @@
YOU_ALREADY_SPECIFIED_THIS_STRIDE,
INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION,
THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD,
PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1
PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1,
THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS
};
};

2
Eigen/src/Geometry/AngleAxis.h
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@ -142,6 +142,8 @@ public:
m_angle = Scalar(other.angle());
}
inline static const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*

2
Eigen/src/Geometry/Rotation2D.h
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@ -117,6 +117,8 @@ public:
m_angle = Scalar(other.angle());
}
inline static Rotation2D Identity() { return Rotation2D(0); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*

16
Eigen/src/Geometry/Transform.h
View File

@ -202,7 +202,7 @@ protected:
public:
/** Default constructor without initialization of the meaningfull coefficients.
/** Default constructor without initialization of the meaningful coefficients.
* If Mode==Affine, then the last row is set to [0 ... 0 1] */
inline Transform()
{
@ -271,10 +271,10 @@ public:
#endif
/** shortcut for m_matrix(row,col);
* \sa MatrixBase::operaror(Index,Index) const */
* \sa MatrixBase::operator(Index,Index) const */
inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
/** shortcut for m_matrix(row,col);
* \sa MatrixBase::operaror(Index,Index) */
* \sa MatrixBase::operator(Index,Index) */
inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
/** \returns a read-only expression of the transformation matrix */
@ -329,13 +329,13 @@ public:
template<typename OtherDerived>
inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
/** Contatenates two transformations */
/** Concatenates two transformations */
inline const Transform operator * (const Transform& other) const
{
return ei_transform_transform_product_impl<Transform,Transform>::run(*this,other);
}
/** Contatenates two different transformations */
/** Concatenates two different transformations */
template<int OtherMode>
inline const typename ei_transform_transform_product_impl<
Transform,Transform<Scalar,Dim,OtherMode> >::ResultType
@ -618,6 +618,7 @@ Transform<Scalar,Dim,Mode>&
Transform<Scalar,Dim,Mode>::scale(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
EIGEN_STATIC_ASSERT(Mode!=Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
linearExt().noalias() = (linearExt() * other.asDiagonal());
return *this;
}
@ -629,6 +630,7 @@ Transform<Scalar,Dim,Mode>::scale(const MatrixBase<OtherDerived> &other)
template<typename Scalar, int Dim, int Mode>
inline Transform<Scalar,Dim,Mode>& Transform<Scalar,Dim,Mode>::scale(Scalar s)
{
EIGEN_STATIC_ASSERT(Mode!=Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
linearExt() *= s;
return *this;
}
@ -643,6 +645,7 @@ Transform<Scalar,Dim,Mode>&
Transform<Scalar,Dim,Mode>::prescale(const MatrixBase<OtherDerived> &other)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
EIGEN_STATIC_ASSERT(Mode!=Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
return *this;
}
@ -654,6 +657,7 @@ Transform<Scalar,Dim,Mode>::prescale(const MatrixBase<OtherDerived> &other)
template<typename Scalar, int Dim, int Mode>
inline Transform<Scalar,Dim,Mode>& Transform<Scalar,Dim,Mode>::prescale(Scalar s)
{
EIGEN_STATIC_ASSERT(Mode!=Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
m_matrix.template topRows<Dim>() *= s;
return *this;
}
@ -742,6 +746,7 @@ Transform<Scalar,Dim,Mode>&
Transform<Scalar,Dim,Mode>::shear(Scalar sx, Scalar sy)
{
EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
EIGEN_STATIC_ASSERT(Mode!=Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
VectorType tmp = linear().col(0)*sy + linear().col(1);
linear() << linear().col(0) + linear().col(1)*sx, tmp;
return *this;
@ -757,6 +762,7 @@ Transform<Scalar,Dim,Mode>&
Transform<Scalar,Dim,Mode>::preshear(Scalar sx, Scalar sy)
{
EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
EIGEN_STATIC_ASSERT(Mode!=Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
return *this;
}