[Spatial] Add default operator{*,/} for Force and Motion classes

bindings/python/spatial/force.hpp

@@ -86,6 +86,10 @@ namespace se3
         .def(bp::self == bp::self)
         .def(bp::self != bp::self)
         
+        .def(bp::self * Scalar())
+        .def(Scalar() * bp::self)
+        .def(bp::self / Scalar())
+        
         .def("isApprox",(bool (Force::*)(const Force & other, const Scalar & prec) const) &Force::isApprox,bp::args("other","prec"),"Returns true if *this is approximately equal to other, within the precision given by prec.")
         .def("isApprox",isApprox,bp::args("other"),"Returns true if *this is approximately equal to other.")
         

bindings/python/spatial/motion.hpp

@@ -100,6 +100,10 @@ namespace se3
         .def(bp::self == bp::self)
         .def(bp::self != bp::self)
         
+        .def(bp::self * Scalar())
+        .def(Scalar() * bp::self)
+        .def(bp::self / Scalar())
+        
         .def("isApprox",(bool (Motion::*)(const Motion & other, const Scalar & prec) const) &Motion::isApprox,bp::args("other","prec"),"Returns true if *this is approximately equal to other, within the precision given by prec.")
         .def("isApprox",isApprox,bp::args("other"),"Returns true if *this is approximately equal to other.")
         

src/spatial/force-base.hpp

@@ -135,9 +135,15 @@ namespace se3
      */
     Derived operator+(const Derived & phi) const { return derived().__plus__(phi); }
     
-    /** \return an expression of *this scaled by the double factor a
+    /** \return an expression of *this scaled by the factor alpha
      */
-    Derived operator*(const Scalar alpha) const    { return derived().__mult__(alpha); }
+    template<typename OtherScalar>
+    ForcePlain operator*(const OtherScalar & alpha) const { return derived().__mult__(alpha); }
+    
+    /** \return an expression of *this divided by the factor alpha
+     */
+    template<typename OtherScalar>
+    ForcePlain operator/(const OtherScalar & alpha) const { return derived().__div__(alpha); }
     
     /** \return an expression of the opposite of *this
      */

src/spatial/force-dense.hpp

@@ -91,8 +91,7 @@ namespace se3
     
     template<typename M1>
     Derived & operator-=(const ForceDense<M1> & v) { return derived().__mequ__(v.derived()); }
-    ForcePlain operator*(const Scalar alpha) const { return derived().__mult__(alpha); }
-    
+
     ForcePlain __minus__() const { return ForcePlain(-linear(),-angular()); }
     
     template<typename M1>
@@ -111,10 +110,14 @@ namespace se3
     Derived & __mequ__(const ForceDense<M1> & v)
     { linear() -= v.linear(); angular() -= v.angular(); return derived(); }
     
-    template<typename S1>
-    ForcePlain __mult__(const S1 alpha) const
+    template<typename OtherScalar>
+    ForcePlain __mult__(const OtherScalar & alpha) const
     { return ForcePlain(alpha*linear(),alpha*angular()); }
     
+    template<typename OtherScalar>
+    ForcePlain __div__(const OtherScalar & alpha) const
+    { return derived().__mult__((OtherScalar)(1)/alpha); }
+    
     template<typename F1>
     Scalar dot(const MotionDense<F1> & phi) const
     { return phi.linear().dot(linear()) + phi.angular().dot(angular()); }

src/spatial/motion-base.hpp

@@ -59,7 +59,11 @@ namespace se3
     MotionPlain operator-(const Derived & v) const { return derived().__minus__(v); }
     Derived & operator+=(const Derived & v) { return derived().__pequ__(v); }
     Derived & operator-=(const Derived & v) { return derived().__mequ__(v); }
-    MotionPlain operator*(const Scalar alpha) const { return derived().__mult__(alpha); }
+    
+    template<typename OtherScalar>
+    MotionPlain operator*(const OtherScalar & alpha) const { return derived().__mult__(alpha); }
+    template<typename OtherScalar>
+    MotionPlain operator/(const OtherScalar & alpha) const { return derived().__div__(alpha); }
     
     template<typename D>
     typename internal::MotionAlgebraAction<D>::ReturnType cross(const D & d) const

src/spatial/motion-dense.hpp

@@ -111,8 +111,7 @@ namespace se3
     
     template<typename M1>
     Derived & operator-=(const MotionDense<M1> & v) { return derived().__mequ__(v.derived()); }
-    MotionPlain operator*(const Scalar alpha) const { return derived().__mult__(alpha); }
-    
+
     MotionPlain __minus__() const { return MotionPlain(-linear(),-angular()); }
     
     template<typename M1>
@@ -131,10 +130,14 @@ namespace se3
     Derived & __mequ__(const MotionDense<M1> & v)
     { linear() -= v.linear(); angular() -= v.angular(); return derived(); }
     
-    template<typename S1>
-    MotionPlain __mult__(const S1 alpha) const
+    template<typename OtherScalar>
+    MotionPlain __mult__(const OtherScalar & alpha) const
     { return MotionPlain(alpha*linear(),alpha*angular()); }
     
+    template<typename OtherScalar>
+    MotionPlain __div__(const OtherScalar & alpha) const
+    { return derived().__mult__((OtherScalar)(1)/alpha); }
+    
     template<typename F1>
     Scalar dot(const ForceBase<F1> & phi) const
     { return phi.linear().dot(linear()) + phi.angular().dot(angular()); }