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WIP: to_homogeneous for MatrixN

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This commit is contained in:
Jochen Görtler 2018-11-18 16:51:40 +01:00 committed by Sébastien Crozet
parent c36416b9c0
commit 3ac5efeac1
2 changed files with 23 additions and 1 deletions
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16
src/base/matrix.rs
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@ -20,7 +20,7 @@ use alga::general::{ClosedAdd, ClosedMul, ClosedSub, Real, Ring};
use base::allocator::{Allocator, SameShapeAllocator, SameShapeC, SameShapeR};
use base::constraint::{DimEq, SameNumberOfColumns, SameNumberOfRows, ShapeConstraint};
use base::dimension::{Dim, DimAdd, DimSum, U1, U2, U3};
use base::dimension::{Dim, DimNameAdd, DimAdd, DimNameSum, DimSum, IsNotStaticOne, U1, U2, U3};
use base::iter::{MatrixIter, MatrixIterMut};
use base::storage::{
ContiguousStorage, ContiguousStorageMut, Owned, SameShapeStorage, Storage, StorageMut,
@ -830,6 +830,20 @@ impl<N: Scalar, D: Dim, S: Storage<N, D, D>> SquareMatrix<N, D, S> {
}
}
impl<N: Scalar + One, D: DimNameAdd<U1> + IsNotStaticOne> MatrixN<N, D> {
/// Yields the homogeneous matrix for this matrix, i.e., appending an additional dimension and
/// and setting the diagonal element to `1`.
#[inline]
pub fn to_homogeneous(&self) -> MatrixN<N, DimNameSum<D, U1>>
where DefaultAllocator: Allocator<N, DimNameSum<D, U1>, DimNameSum<D, U1>> {
let mut res = MatrixN::<N, DimNameSum<D, U1>>::identity();
res.fixed_slice_mut::<D, D>(0, 0).copy_from(&self);
res
}
}
impl<N: Scalar + Zero, D: DimAdd<U1>, S: Storage<N, D>> Vector<N, D, S> {
/// Computes the coordinates in projective space of this vector, i.e., appends a `0` to its
/// coordinates.

8
tests/core/matrix.rs
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@ -275,8 +275,16 @@ fn to_homogeneous() {
let b = DVector::from_row_slice(3, &[1.0, 2.0, 3.0]);
let expected_b = DVector::from_row_slice(4, &[1.0, 2.0, 3.0, 0.0]);
let c = Matrix2::new(1.0, 2.0, 3.0, 4.0);
let expected_c = Matrix3::new(1.0, 2.0, 0.0, 3.0, 4.0, 0.0, 0.0, 0.0, 1.0);
let d = DMatrix::from_row_slice(2, &[1.0, 2.0, 3.0, 4.0]);
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]);
assert_eq!(a.to_homogeneous(), expected_a);
assert_eq!(b.to_homogeneous(), expected_b);
assert_eq!(c.to_homogeneous(), expected_c);
assert_eq!(d.to_homogeneous(), expected_d);
}
#[test]