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Gabriele Buondonno
pinocchio
Commits
67be751d
Commit
67be751d
authored
Mar 16, 2016
by
jcarpent
Browse files
[C++] Remove useless eval operator
parent
779cdaf5
Changes
1
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Inline
Side-by-side
src/spatial/se3.hpp
View file @
67be751d
...
...
@@ -219,8 +219,7 @@ namespace se3
return
*
this
;
}
public:
Matrix4
toHomogeneousMatrix_impl
()
const
{
Matrix4
M
;
...
...
@@ -247,7 +246,6 @@ namespace se3
return
M
;
}
void
disp_impl
(
std
::
ostream
&
os
)
const
{
os
<<
" R =
\n
"
<<
rot
<<
std
::
endl
...
...
@@ -268,8 +266,8 @@ namespace se3
return
d
.
se3ActionInverse
(
*
this
);
}
Vector3
act_impl
(
const
Vector3
&
p
)
const
{
return
(
rot
*
p
+
trans
).
eval
()
;
}
Vector3
actInv_impl
(
const
Vector3
&
p
)
const
{
return
(
rot
.
transpose
()
*
(
p
-
trans
)
).
eval
()
;
}
Vector3
act_impl
(
const
Vector3
&
p
)
const
{
return
rot
*
p
+
trans
;
}
Vector3
actInv_impl
(
const
Vector3
&
p
)
const
{
return
rot
.
transpose
()
*
(
p
-
trans
);
}
SE3Tpl
act_impl
(
const
SE3Tpl
&
m2
)
const
{
return
SE3Tpl
(
rot
*
m2
.
rot
,
trans
+
rot
*
m2
.
trans
);}
SE3Tpl
actInv_impl
(
const
SE3Tpl
&
m2
)
const
{
return
SE3Tpl
(
rot
.
transpose
()
*
m2
.
rot
,
rot
.
transpose
()
*
(
m2
.
trans
-
trans
));}
...
...
@@ -287,7 +285,6 @@ namespace se3
return
rot
.
isApprox
(
m2
.
rot
,
prec
)
&&
trans
.
isApprox
(
m2
.
trans
,
prec
);
}
public:
const
Angular_t
&
rotation_impl
()
const
{
return
rot
;
}
Angular_t
&
rotation_impl
()
{
return
rot
;
}
void
rotation_impl
(
const
Angular_t
&
R
)
{
rot
=
R
;
}
...
...
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