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[Toon-members] TooN se2.h se3.h sl.h so3.h
From: |
Gerhard Reitmayr |
Subject: |
[Toon-members] TooN se2.h se3.h sl.h so3.h |
Date: |
Wed, 25 Jan 2012 15:51:08 +0000 |
CVSROOT: /cvsroot/toon
Module name: TooN
Changes by: Gerhard Reitmayr <gerhard> 12/01/25 15:51:08
Modified files:
. : se2.h se3.h sl.h so3.h
Log message:
more generic product operators
CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/TooN/se2.h?cvsroot=toon&r1=1.11&r2=1.12
http://cvs.savannah.gnu.org/viewcvs/TooN/se3.h?cvsroot=toon&r1=1.34&r2=1.35
http://cvs.savannah.gnu.org/viewcvs/TooN/sl.h?cvsroot=toon&r1=1.10&r2=1.11
http://cvs.savannah.gnu.org/viewcvs/TooN/so3.h?cvsroot=toon&r1=1.51&r2=1.52
Patches:
Index: se2.h
===================================================================
RCS file: /cvsroot/toon/TooN/se2.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -u -b -r1.11 -r1.12
--- se2.h 7 Apr 2011 23:17:02 -0000 1.11
+++ se2.h 25 Jan 2012 15:51:07 -0000 1.12
@@ -92,7 +92,8 @@
/// Self right-multiply by another SE2 (concatenate the two
transformations)
/// @param rhs The multipier
- inline SE2& operator *=(const SE2& rhs) {
+ template <typename P>
+ inline SE2& operator *=(const SE2<P>& rhs) {
*this = *this * rhs;
return *this;
}
Index: se3.h
===================================================================
RCS file: /cvsroot/toon/TooN/se3.h,v
retrieving revision 1.34
retrieving revision 1.35
diff -u -b -r1.34 -r1.35
--- se3.h 2 May 2011 21:46:10 -0000 1.34
+++ se3.h 25 Jan 2012 15:51:07 -0000 1.35
@@ -90,7 +90,8 @@
/// Right-multiply by another SE3 (concatenate the two transformations)
/// @param rhs The multipier
- inline SE3& operator *=(const SE3& rhs) {
+ template<typename P>
+ inline SE3& operator *=(const SE3<P> & rhs) {
get_translation() += get_rotation() * rhs.get_translation();
get_rotation() *= rhs.get_rotation();
return *this;
Index: sl.h
===================================================================
RCS file: /cvsroot/toon/TooN/sl.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -u -b -r1.10 -r1.11
--- sl.h 7 Apr 2011 23:17:02 -0000 1.10
+++ sl.h 25 Jan 2012 15:51:08 -0000 1.11
@@ -79,9 +79,12 @@
SL inverse() const { return SL(*this, Invert()); }
/// multiplies to SLs together by multiplying the underlying matrices
- SL operator*( const SL & rhs) const { return SL(*this, rhs); }
+ template <typename P>
+ SL<N,typename Internal::MultiplyType<Precision, P>::type> operator*(
const SL<N,P> & rhs) const { return SL<N,typename
Internal::MultiplyType<Precision, P>::type>(*this, rhs); }
+
/// right multiplies this SL with another one
- SL operator*=( const SL & rhs) { *this = *this*rhs; return *this; }
+ template <typename P>
+ SL operator*=( const SL<N,P> & rhs) { *this = *this*rhs; return *this; }
/// exponentiates a vector in the Lie algebra to compute the
corresponding element
/// @arg v a vector of dimension SL::dim
Index: so3.h
===================================================================
RCS file: /cvsroot/toon/TooN/so3.h,v
retrieving revision 1.51
retrieving revision 1.52
diff -u -b -r1.51 -r1.52
--- so3.h 1 Nov 2011 16:37:16 -0000 1.51
+++ so3.h 25 Jan 2012 15:51:08 -0000 1.52
@@ -132,7 +132,8 @@
SO3 inverse() const { return SO3(*this, Invert()); }
/// Right-multiply by another rotation matrix
- SO3& operator *=(const SO3& rhs) {
+ template <typename P>
+ SO3& operator *=(const SO3<P>& rhs) {
*this = *this * rhs;
return *this;
}
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