From 72f61918f4af0cae7689c8205e69a749c04ad811 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jochen=20G=C3=B6rtler?= <web@goertler.email>
Date: Mon, 19 Nov 2018 21:21:25 +0100
Subject: [PATCH] RFC: Fix type annotations

---
 src/base/matrix.rs   | 14 ++++++++------
 tests/core/matrix.rs |  2 +-
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index 8f700ea9..73fb886d 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -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, DimNameAdd, DimAdd, DimNameSum, DimSum, IsNotStaticOne, U1, U2, U3};
+use base::dimension::{Dim, DimAdd, DimSum, IsNotStaticOne, U1, U2, U3};
 use base::iter::{MatrixIter, MatrixIterMut};
 use base::storage::{
     ContiguousStorage, ContiguousStorageMut, Owned, SameShapeStorage, Storage, StorageMut,
@@ -830,15 +830,17 @@ 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> {
+impl<N: Scalar + One + Zero, D: Dim + DimAdd<U1> + IsNotStaticOne, S: Storage<N, D, D>> Matrix<N, D, D, S> {
 
     /// 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);
+    pub fn to_homogeneous(&self) -> MatrixN<N, DimSum<D, U1>>
+    where DefaultAllocator: Allocator<N, DimSum<D, U1>, DimSum<D, U1>> {
+        assert!(self.is_square(), "Only square matrices can currently be transformed to homogeneous coordinates.");
+        let dim = DimSum::<D, U1>::from_usize(self.nrows() + 1);
+        let mut res = MatrixN::identity_generic(dim, dim); 
+        res.generic_slice_mut::<D, D>((0, 0), self.data.shape()).copy_from(&self);
         res
     }
 
diff --git a/tests/core/matrix.rs b/tests/core/matrix.rs
index 18dfdcf2..2569ea7a 100644
--- a/tests/core/matrix.rs
+++ b/tests/core/matrix.rs
@@ -278,7 +278,7 @@ fn to_homogeneous() {
     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 d = DMatrix::from_row_slice(2, 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);