From caeec612484099b6a8a3043573f9b8c0d2d9d80f Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 9 May 2017 18:34:42 +0200
Subject: [PATCH] Revert "Tranform3f::transform returns an Eigen expression"
This reverts commit c2aafe321783668bc18d10b1d0031db402402b1e.
Conflicts:
include/hpp/fcl/math/transform.h
---
include/hpp/fcl/math/transform.h | 21 +++++++--------------
1 file changed, 7 insertions(+), 14 deletions(-)
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index e7f2266b..5191121d 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -243,35 +243,28 @@ template<typename RhsType> struct quaternion_transform_return_type :
typename quat_traits::Cross_t m_uCrossV;
};
-template<typename LhsType, typename RhsType, bool hasTemp> struct translate_return_type :
- translate_return_type_traits<LhsType, RhsType, hasTemp>::storage_type,
- translate_return_type_traits<LhsType, RhsType, hasTemp>::type
+template<typename LhsType, typename RhsType> struct translate_return_type :
+ translate_return_type_traits<LhsType, RhsType>::type
{
- typedef translate_return_type_traits<LhsType, RhsType, hasTemp> trans_traits;
+ typedef translate_return_type_traits<LhsType, RhsType> trans_traits;
typedef typename trans_traits::type Base;
- typedef typename trans_traits::storage_type storage_type;
EIGEN_GENERIC_PUBLIC_INTERFACE(translate_return_type)
EIGEN_STRONG_INLINE translate_return_type(const quaternion_transform_return_type<LhsType>& rv, const RhsType& T) :
Base (rv, T)
{}
-
- EIGEN_STRONG_INLINE translate_return_type(const Quaternion3f&q, const Eigen::MatrixBase<LhsType>& v, const RhsType& T) :
- storage_type (q, v),
- Base (this->store_lhs, T)
- {}
};
template<typename Derived, typename OtherDerived>
-const translate_return_type<Derived, OtherDerived, false>
+const translate_return_type<Derived, OtherDerived>
operator+ (const quaternion_transform_return_type<Derived>& rv,
const Eigen::MatrixBase<OtherDerived>& T)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3);
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived, 3);
- return translate_return_type<Derived, OtherDerived, false>(rv, T.derived());
+ return translate_return_type<Derived, OtherDerived>(rv, T.derived());
}
template<typename Derived>
@@ -429,9 +422,9 @@ public:
/// @brief transform a given vector by the transform
template <typename Derived>
- inline const translate_return_type<Derived, Vec3f, true> transform(const Eigen::MatrixBase<Derived>& v) const
+ inline Vec3f transform(const Eigen::MatrixBase<Derived>& v) const
{
- return translate_return_type<Derived, Vec3f, true>(q, v, T);
+ return q.transform(v) + T;
}
/// @brief inverse transform
--
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