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Backport bug #1573: add noexcept move constructor and move assignment operator to Quaternion #7

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Merged
merged 4 commits into from
Sep 17, 2025
Merged

Backport bug #1573: add noexcept move constructor and move assignment operator to Quaternion #7

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f6c224b
bug #1573: add noexcept move constructor and move assignment operator…
ggael Jul 17, 2018
cffb35c
bug #1575: fix regression introduced in bug #1573 patch. Move ctor/as…
ggael Jul 18, 2018
2b50530
Add regression for bugs #1573 and #1575
ggael Jul 18, 2018
12f0c2c
bug #1573: workaround gcc 4.7 and 4.8 bug
ggael Aug 27, 2018
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25 changes: 24 additions & 1 deletion Eigen/src/Geometry/Quaternion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -271,6 +271,29 @@ class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
{ m_coeffs = other.coeffs().template cast<Scalar>(); }

#if EIGEN_HAS_RVALUE_REFERENCES
// We define a copy constructor, which means we don't get an implicit move constructor or assignment operator.
/** Default move constructor */
EIGEN_DEVICE_FUNC inline Quaternion(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
{
m_coeffs(std::move(other.coeffs()));
}

/** Default move assignment operator */
EIGEN_DEVICE_FUNC Quaternion& operator=(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
{
m_coeffs = std::move(other.coeffs());
return *this;
}

// And now because we declared a constructor, we don't get an implicit copy constructor. Say we want one.
/** Default copy constructor */
EIGEN_DEVICE_FUNC Quaternion(const Quaternion& other)
{
m_coeffs = other.coeffs();
}
#endif

EIGEN_DEVICE_FUNC static Quaternion UnitRandom();

template<typename Derived1, typename Derived2>
Expand Down Expand Up @@ -623,7 +646,7 @@ EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRan
const Scalar u1 = internal::random<Scalar>(0, 1),
u2 = internal::random<Scalar>(0, 2*EIGEN_PI),
u3 = internal::random<Scalar>(0, 2*EIGEN_PI);
const Scalar a = sqrt(1 - u1),
const Scalar a = sqrt(Scalar(1) - u1),
b = sqrt(u1);
return Quaternion (a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
}
Expand Down
37 changes: 29 additions & 8 deletions test/geo_quaternion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/SVD>
#include "AnnoyingScalar.h"

template<typename T> T bounded_acos(T v)
{
Expand Down Expand Up @@ -85,7 +86,7 @@ template<typename Scalar, int Options> void quaternion(void)
if (refangle>Scalar(EIGEN_PI))
refangle = Scalar(2)*Scalar(EIGEN_PI) - refangle;

if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)
if((q1.coeffs()-q2.coeffs()).norm() > Scalar(10)*largeEps)
{
VERIFY_IS_MUCH_SMALLER_THAN(abs(q1.angularDistance(q2) - refangle), Scalar(1));
}
Expand Down Expand Up @@ -113,7 +114,7 @@ template<typename Scalar, int Options> void quaternion(void)

// Do not execute the test if the rotation angle is almost zero, or
// the rotation axis and v1 are almost parallel.
if (abs(aa.angle()) > 5*test_precision<Scalar>()
if (abs(aa.angle()) > Scalar(5)*test_precision<Scalar>()
&& (aa.axis() - v1.normalized()).norm() < Scalar(1.99)
&& (aa.axis() + v1.normalized()).norm() < Scalar(1.99))
{
Expand Down Expand Up @@ -272,18 +273,38 @@ template<typename PlainObjectType> void check_const_correctness(const PlainObjec
VERIFY( !(Map<ConstPlainObjectType, Aligned>::Flags & LvalueBit) );
}

void test_geo_quaternion()
#if EIGEN_HAS_RVALUE_REFERENCES

// Regression for bug 1573
struct MovableClass {
// The following line is a workaround for gcc 4.7 and 4.8 (see bug 1573 comments).
static_assert(std::is_nothrow_move_constructible<Quaternionf>::value,"");
MovableClass() = default;
MovableClass(const MovableClass&) = default;
MovableClass(MovableClass&&) noexcept = default;
MovableClass& operator=(const MovableClass&) = default;
MovableClass& operator=(MovableClass&&) = default;
Quaternionf m_quat;
};

#endif

EIGEN_DECLARE_TEST(geo_quaternion)
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1(( quaternion<float,AutoAlign>() ));
CALL_SUBTEST_1( check_const_correctness(Quaternionf()) );
CALL_SUBTEST_1(( quaternion<float,DontAlign>() ));
CALL_SUBTEST_1(( quaternionAlignment<float>() ));
CALL_SUBTEST_1( mapQuaternion<float>() );

CALL_SUBTEST_2(( quaternion<double,AutoAlign>() ));
CALL_SUBTEST_2( check_const_correctness(Quaterniond()) );
CALL_SUBTEST_3(( quaternion<float,DontAlign>() ));
CALL_SUBTEST_4(( quaternion<double,DontAlign>() ));
CALL_SUBTEST_5(( quaternionAlignment<float>() ));
CALL_SUBTEST_6(( quaternionAlignment<double>() ));
CALL_SUBTEST_1( mapQuaternion<float>() );
CALL_SUBTEST_2(( quaternion<double,DontAlign>() ));
CALL_SUBTEST_2(( quaternionAlignment<double>() ));
CALL_SUBTEST_2( mapQuaternion<double>() );

AnnoyingScalar::dont_throw = true;
CALL_SUBTEST_3(( quaternion<AnnoyingScalar,AutoAlign>() ));
}
}