RFC: Fix type annotations
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@ -20,7 +20,7 @@ use alga::general::{ClosedAdd, ClosedMul, ClosedSub, Real, Ring};
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use base::allocator::{Allocator, SameShapeAllocator, SameShapeC, SameShapeR};
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use base::allocator::{Allocator, SameShapeAllocator, SameShapeC, SameShapeR};
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use base::constraint::{DimEq, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
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use base::constraint::{DimEq, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
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use base::dimension::{Dim, DimNameAdd, DimAdd, DimNameSum, DimSum, IsNotStaticOne, U1, U2, U3};
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use base::dimension::{Dim, DimAdd, DimSum, IsNotStaticOne, U1, U2, U3};
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use base::iter::{MatrixIter, MatrixIterMut};
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use base::iter::{MatrixIter, MatrixIterMut};
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use base::storage::{
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use base::storage::{
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ContiguousStorage, ContiguousStorageMut, Owned, SameShapeStorage, Storage, StorageMut,
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ContiguousStorage, ContiguousStorageMut, Owned, SameShapeStorage, Storage, StorageMut,
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@ -830,15 +830,17 @@ impl<N: Scalar, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
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}
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}
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}
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}
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impl<N: Scalar + One, D: DimNameAdd<U1> + IsNotStaticOne> MatrixN<N, D> {
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impl<N: Scalar + One + Zero, D: Dim + DimAdd<U1> + IsNotStaticOne, S: Storage<N, D, D>> Matrix<N, D, D, S> {
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/// Yields the homogeneous matrix for this matrix, i.e., appending an additional dimension and
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/// Yields the homogeneous matrix for this matrix, i.e., appending an additional dimension and
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/// and setting the diagonal element to `1`.
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/// and setting the diagonal element to `1`.
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#[inline]
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#[inline]
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pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
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pub fn to_homogeneous(&self) -> MatrixN<N, DimSum<D, U1>>
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where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> {
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where DefaultAllocator: Allocator<N, DimSum<D, U1>, DimSum<D, U1>> {
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let mut res = MatrixN::<N, DimNameSum<D, U1>>::identity();
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assert!(self.is_square(), "Only square matrices can currently be transformed to homogeneous coordinates.");
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res.fixed_slice_mut::<D, D>(0, 0).copy_from(&self);
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let dim = DimSum::<D, U1>::from_usize(self.nrows() + 1);
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let mut res = MatrixN::identity_generic(dim, dim);
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res.generic_slice_mut::<D, D>((0, 0), self.data.shape()).copy_from(&self);
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res
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res
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}
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}
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@ -278,7 +278,7 @@ fn to_homogeneous() {
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let c = Matrix2::new(1.0, 2.0, 3.0, 4.0);
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let c = Matrix2::new(1.0, 2.0, 3.0, 4.0);
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let expected_c = Matrix3::new(1.0, 2.0, 0.0, 3.0, 4.0, 0.0, 0.0, 0.0, 1.0);
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let expected_c = Matrix3::new(1.0, 2.0, 0.0, 3.0, 4.0, 0.0, 0.0, 0.0, 1.0);
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let d = DMatrix::from_row_slice(2, &[1.0, 2.0, 3.0, 4.0]);
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let d = DMatrix::from_row_slice(2, 2, &[1.0, 2.0, 3.0, 4.0]);
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let expected_d = DMatrix::from_row_slice(3, 3, &[1.0, 2.0, 0.0, 3.0, 4.0, 0.0, 0.0, 0.0, 1.0]);
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let expected_d = DMatrix::from_row_slice(3, 3, &[1.0, 2.0, 0.0, 3.0, 4.0, 0.0, 0.0, 0.0, 1.0]);
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assert_eq!(a.to_homogeneous(), expected_a);
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assert_eq!(a.to_homogeneous(), expected_a);
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