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

[C++] Remove useless eval operator

parent 779cdaf5
......@@ -220,7 +220,6 @@ 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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