From 5741939bc7464d1bbda59d9e6150f826511ae8d5 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <josephmirabel@gmail.com>
Date: Sun, 12 Jun 2016 20:08:47 +0200
Subject: [PATCH] Rename Quaternion3f::Transform to transform_return_type
---
include/hpp/fcl/math/transform.h | 35 ++++++++++++++++----------------
1 file changed, 18 insertions(+), 17 deletions(-)
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index 1cda9610..56c14c9b 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -52,7 +52,22 @@ private:
typedef Eigen::Matrix<FCL_REAL, 4, 1> Vec4f;
typedef typename Vec4f:: FixedSegmentReturnType<3>::Type XYZ_t;
typedef typename Vec4f::ConstFixedSegmentReturnType<3>::Type XYZConst_t;
+
public:
+ template<typename Derived> struct transform_return_type {
+ typedef typename XYZConst_t::cross_product_return_type<Derived>::type Cross_t;
+ typedef Eigen::CwiseBinaryOp <
+ Eigen::internal::scalar_sum_op <FCL_REAL>,
+ const typename Derived::ScalarMultipleReturnType,
+ const typename Cross_t::ScalarMultipleReturnType >
+ RightSum_t;
+ typedef Eigen::CwiseBinaryOp <
+ Eigen::internal::scalar_sum_op <FCL_REAL>,
+ const typename XYZConst_t::ScalarMultipleReturnType,
+ const RightSum_t >
+ Type;
+ };
+
enum {
W = 0,
X = 1,
@@ -168,24 +183,10 @@ public:
if (n > 0) data *= 1/sqrt(n);
}
- template<typename Derived> struct Transform {
- typedef typename XYZConst_t::cross_product_return_type<Derived>::type Cross_t;
- typedef Eigen::CwiseBinaryOp <
- Eigen::internal::scalar_sum_op <FCL_REAL>,
- const typename Derived::ScalarMultipleReturnType,
- const typename Cross_t::ScalarMultipleReturnType >
- RightSum_t;
- typedef Eigen::CwiseBinaryOp <
- Eigen::internal::scalar_sum_op <FCL_REAL>,
- const typename XYZConst_t::ScalarMultipleReturnType,
- const RightSum_t >
- Type;
- };
-
/// @brief rotate a vector
template<typename Derived>
/*inline Vec3f transform(const Eigen::MatrixBase<Derived>& v) const*/
- inline typename Transform<Derived>::Type
+ inline typename transform_return_type<Derived>::Type
transform(const Eigen::MatrixBase<Derived>& v) const
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3);
@@ -194,8 +195,8 @@ public:
/*return 2*u.dot(v)*u + (s*s - u.dot(u))*v + 2*s*u.cross(v);*/
const FCL_REAL uDv = u.dot(v);
const FCL_REAL uDu = u.dot(u);
- const typename Transform<Derived>::RightSum_t rhs((s*s - uDu)*v, 2*s*u.cross(v.derived()));
- return typename Transform<Derived>::Type (2*uDv*u, rhs);
+ const typename transform_return_type<Derived>::RightSum_t rhs((s*s - uDu)*v, 2*s*u.cross(v.derived()));
+ return typename transform_return_type<Derived>::Type (2*uDv*u, rhs);
}
bool operator == (const Quaternion3f& other) const
--
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