Re: [eigen] Do we need geometry refactoring? |
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Here is an initial patch. It does not yet fix everything and actually lead to more problems and issues. Currently, this operator is causing a little head-ache template<typename OtherDerived> friend inline AffineTransformType Translation::operator*(const EigenBase<OtherDerived>& linear, const Translation& t) In particular because it is also used for transformations. It got really bad since I added this change to RotationBase inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const .... which makes sense for me but what happens now is this ... Affine = Affine * (Quaternion * Translation) Affine = Affine * Isometry( MatrixRepresentingQuaternion * Translation ) Affine = Affine * Isometry( Affine !?!? ) <-- crash I would suggest Translation gets an operator*(const Transform<...>& M, const Translation& t) and the result is a Transform<...>. - Hauke
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