Commit 67be751d authored by jcarpent's avatar jcarpent
Browse files

[C++] Remove useless eval operator

parent 779cdaf5
...@@ -219,8 +219,7 @@ namespace se3 ...@@ -219,8 +219,7 @@ namespace se3
return *this; return *this;
} }
public:
Matrix4 toHomogeneousMatrix_impl() const Matrix4 toHomogeneousMatrix_impl() const
{ {
Matrix4 M; Matrix4 M;
...@@ -247,7 +246,6 @@ namespace se3 ...@@ -247,7 +246,6 @@ namespace se3
return M; return M;
} }
void disp_impl(std::ostream & os) const void disp_impl(std::ostream & os) const
{ {
os << " R =\n" << rot << std::endl os << " R =\n" << rot << std::endl
...@@ -268,8 +266,8 @@ namespace se3 ...@@ -268,8 +266,8 @@ namespace se3
return d.se3ActionInverse(*this); return d.se3ActionInverse(*this);
} }
Vector3 act_impl (const Vector3& p) const { return (rot*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)).eval(); } 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 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));} SE3Tpl actInv_impl (const SE3Tpl& m2) const { return SE3Tpl( rot.transpose()*m2.rot, rot.transpose()*(m2.trans-trans));}
...@@ -287,7 +285,6 @@ namespace se3 ...@@ -287,7 +285,6 @@ namespace se3
return rot.isApprox(m2.rot, prec) && trans.isApprox(m2.trans, prec); return rot.isApprox(m2.rot, prec) && trans.isApprox(m2.trans, prec);
} }
public:
const Angular_t & rotation_impl() const { return rot; } const Angular_t & rotation_impl() const { return rot; }
Angular_t & rotation_impl() { return rot; } Angular_t & rotation_impl() { return rot; }
void rotation_impl(const Angular_t & R) { rot = R; } void rotation_impl(const Angular_t & R) { rot = R; }
......
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