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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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