Re: [eigen] Avoid SVD in rotation() for Isometry |

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*To*: eigen <eigen@xxxxxxxxxxxxxxxxxxx>*Subject*: Re: [eigen] Avoid SVD in rotation() for Isometry*From*: Gael Guennebaud <gael.guennebaud@xxxxxxxxx>*Date*: Tue, 15 Jan 2019 22:54:38 +0100*Dkim-signature*: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20161025; h=mime-version:references:in-reply-to:from:date:message-id:subject:to; bh=AEB4HEDOo+gnnvWs26urb+9tj46vGZWubn078Se5ViU=; b=bUfRD4wUtETAB8GZwFEKNbftGLJxpREtuaxe/mnsfgynuOTS5fGdvF12hIO52mCmWt dgr0Dhzpu+Vi4XI59Ln2BB9OdX7sJXQ5tJV2oYtOxP8ulTAf12BTvX0ztITZbEPlcSci J8L/EGNxs4+KtTQ4Ldytx+LSutJJ9ufFo6iMqd5FZQCDJNodV9yPrYvKslu75dMFauGH Yyq7bgotz4itGr8bRgbouUvcuaD0vrHq3FDw3zw7qF1rOuUDwEo9qsilhjpEPUtuAlOG mzOhfdZaCboUHorS9EA3gq9Lu1rqFitVYhsMa0ZWX6LscSgzYoWhLYvWRSjt3UsdlsSU qpBA==

On Tue, Jan 15, 2019 at 9:05 PM Greg Coombe <greg.coombe@xxxxxxxxx> wrote:

On Sun, Jan 13, 2019 at 3:07 PM Gael Guennebaud <gael.guennebaud@xxxxxxxxx> wrote:makes sense to me, but I'd even go a step further by making rotation() an alias to linear() in the Isometry case. A bit more tricky to implement though.You mean like some sort of partial template specialization/alias? Not sure I know how to accomplish that. Can you sketch out how this would work?

With c++17 it's as simple as returning "auto" and using a "if constexpr" [1], in c++98 it's more painful:

gael.

**Follow-Ups**:**Re: [eigen] Avoid SVD in rotation() for Isometry***From:*Greg Coombe

**References**:**[eigen] Avoid SVD in rotation() for Isometry***From:*Greg Coombe

**Re: [eigen] Avoid SVD in rotation() for Isometry***From:*Gael Guennebaud

**Re: [eigen] Avoid SVD in rotation() for Isometry***From:*Greg Coombe

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