geometry: Reformed Transform, to be exposed later

Author: Lucas-Haubert

include/nanoeigenpy/geometry.hpp

@@ -8,6 +8,5 @@
 #include "nanoeigenpy/geometry/rotation-2d.hpp"
 #include "nanoeigenpy/geometry/scaling.hpp"
 #include "nanoeigenpy/geometry/translation.hpp"
-#include "nanoeigenpy/geometry/transform.hpp"
 #include "nanoeigenpy/geometry/quaternion.hpp"
 #include "nanoeigenpy/geometry/jacobi-rotation.hpp"

include/nanoeigenpy/geometry/hyperplane.hpp

@@ -24,7 +24,6 @@ void exposeHyperplane(nb::module_ m, const char *name) {
   using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
   using MatrixType = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, 1>;
   using Parameterized = Eigen::ParametrizedLine<Scalar, Eigen::Dynamic>;
-  using Transform = Eigen::Transform<Scalar, Eigen::Dynamic, Eigen::Affine>;
 
   if (check_registration_alias<Hyperplane>(m)) {
     return;
@@ -172,45 +171,6 @@ void exposeHyperplane(nb::module_ m, const char *name) {
           },
           "other"_a, "Returns the intersection of *this with \a other.")
 
-      // TODO: Pass the tests
-      //  .def(
-      //      "transform",
-      //      [](Hyperplane &h, const MatrixType &mat) -> Hyperplane & {
-      //        return h.transform(mat);
-      //      }, "mat"_a,
-      //      "Applies the transformation matrix \a mat to *this and returns a
-      //      reference to *this.", nb::rv_policy::reference)
-      //  .def(
-      //      "transform",
-      //      [](Hyperplane &h, const MatrixType &mat, Eigen::TransformTraits
-      //      traits) -> Hyperplane & {
-      //        return h.transform(mat, traits);
-      //      }, "mat"_a, "traits"_a,
-      //      "Applies the transformation matrix \a mat to *this and returns a
-      //      reference to *this." "traits specifies whether the matrix \a mat
-      //      represents an #Isometry" "or a more generic #Affine
-      //      transformation. The default is #Affine.",
-      //      nb::rv_policy::reference)
-      // TODO: Fix errors from Transform (maybe due to size management, of
-      // other)
-      //  .def(
-      //      "transform",
-      //      [](Hyperplane &h, const Transform &t) -> Hyperplane & {
-      //        return h.transform(t);
-      //      }, "t"_a,
-      //      "Applies the transformation \a t to *this and returns a reference
-      //      to *this", nb::rv_policy::reference)
-      // .def(
-      //      "transform",
-      //      [](Hyperplane &h, const Transform &t, Eigen::TransformTraits
-      //      traits) -> Hyperplane & {
-      //        return h.transform(t, traits);
-      //      }, "t"_a, "traits"_a,
-      //      "Applies the transformation \a t to *this and returns a reference
-      //      to *this" "traits specifies whether the matrix \a mat represents
-      //      an #Isometry" "or a more generic #Affine transformation. The
-      //      default is #Affine.", nb::rv_policy::reference)
-
       .def(
           "isApprox",
           [](const Hyperplane &aa, const Hyperplane &other,

include/nanoeigenpy/geometry/transform.hpp

@@ -22,10 +22,6 @@ void exposeTranslation(nb::module_ m, const char* name) {
   using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
   using LinearMatrixType =
       Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>;
-  using AffineTransformType =
-      Eigen::Transform<Scalar, Eigen::Dynamic, Eigen::Affine>;
-  using IsometryTransformType =
-      Eigen::Transform<Scalar, Eigen::Dynamic, Eigen::Isometry>;
   using Translation = Eigen::Translation<Scalar, Eigen::Dynamic>;
 
   if (check_registration_alias<Translation>(m)) {
@@ -108,6 +104,7 @@ void exposeTranslation(nb::module_ m, const char* name) {
 
       .def("inverse", &Translation::inverse,
            "Returns the inverse translation (opposite)")
+      .def("Identity", &Translation::Identity)
 
       .def(
           "isApprox",
@@ -132,9 +129,6 @@ void exposeTranslation(nb::module_ m, const char* name) {
           },
           "other"_a, "Concatenates two translations")
 
-      // TODO: Management of the Eigen::Dynamic to avoic matrices of size 0, 0
-      // in the mul methods
-
       .def(IdVisitor());
 }
 

include/nanoeigenpy/geometry/translation.hpp

@@ -124,20 +124,6 @@ NB_MODULE(nanoeigenpy, m) {
   exposeUniformScaling<Scalar>(m, "UniformScaling");
   exposeTranslation<Scalar>(m, "Translation");
 
-  using AffineTransform =
-      Eigen::Transform<Scalar, Eigen::Dynamic, Eigen::Affine>;
-  using AffineCompactTransform =
-      Eigen::Transform<Scalar, Eigen::Dynamic, Eigen::AffineCompact>;
-  using ProjectiveTransform =
-      Eigen::Transform<Scalar, Eigen::Dynamic, Eigen::Projective>;
-  using IsometryTransform =
-      Eigen::Transform<Scalar, Eigen::Dynamic, Eigen::Isometry>;
-
-  exposeTransform<AffineTransform>(m, "AffineTransform");
-  //   exposeTransform<AffineCompactTransform>(m, "AffineCompactTransform");
-  //   exposeTransform<ProjectiveTransform>(m, "ProjectiveTransform");
-  //   exposeTransform<IsometryTransform>(m, "IsometryTransform");
-
   // <Eigen/Jacobi>
   exposeJacobiRotation<Scalar>(m, "JacobiRotation");