Rewrote some hard to read linear algebra code to use Eigen

1 files changed, 5 insertions, 4 deletions

diff --git a/src/state.h b/src/state.h
index 69aee87..5dc74df 100644
--- a/src/state.h
+++ b/src/state.h
@@ -2,13 +2,14 @@
 #define STATE_H_
 
 #include <cstring>
+#include "linalg.h"
 
 class State
 {
 public:
   State(const class AbstractNode *parent) 
     : parentnode(parent), isprefix(false), ispostfix(false), numchildren(0) {
-		for (int i=0;i<16;i++) this->m[i] = i % 5 == 0 ? 1.0 : 0.0;
+		m = Transform3d::Identity();
 		for (int i=0;i<4;i++) this->c[i] = -1.0;
 	}
   virtual ~State() {}
@@ -17,14 +18,14 @@ public:
   void setPostfix(bool on) { this->ispostfix = on; }
   void setNumChildren(unsigned int numc) { this->numchildren = numc; }
   void setParent(const AbstractNode *parent) { this->parentnode = parent; }
-	void setMatrix(const double m[16]) { memcpy(this->m, m, 16*sizeof(double)); }
+	void setMatrix(const Transform3d &m) { this->m = m; }
 	void setColor(const double c[4]) { memcpy(this->c, c, 4*sizeof(double)); }
 
   bool isPrefix() const { return this->isprefix; }
   bool isPostfix() const { return this->ispostfix; }
   unsigned int numChildren() const { return this->numchildren; }
   const AbstractNode *parent() const { return this->parentnode; }
-	const double *matrix() const { return this->m; }
+	const Transform3d &matrix() const { return this->m; }
 	const double *color() const { return this->c; }
 
 private:
@@ -34,7 +35,7 @@ private:
   unsigned int numchildren;
 
 	// Transformation matrix and color. FIXME: Generalize such state variables?
-	double m[16];
+	Transform3d m;
 	double c[4];
 };