/src/Geometry_Eigen/Eigen/src/Eigen2Support/Geometry/Translation.h
C Header | 196 lines | 101 code | 26 blank | 69 comment | 0 complexity | 7918364c7edde9001d10e831262cbf4a MD5 | raw file
Possible License(s): AGPL-3.0, LGPL-2.1, LGPL-3.0, GPL-2.0
1// This file is part of Eigen, a lightweight C++ template library 2// for linear algebra. Eigen itself is part of the KDE project. 3// 4// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> 5// 6// Eigen is free software; you can redistribute it and/or 7// modify it under the terms of the GNU Lesser General Public 8// License as published by the Free Software Foundation; either 9// version 3 of the License, or (at your option) any later version. 10// 11// Alternatively, you can redistribute it and/or 12// modify it under the terms of the GNU General Public License as 13// published by the Free Software Foundation; either version 2 of 14// the License, or (at your option) any later version. 15// 16// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY 17// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS 18// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the 19// GNU General Public License for more details. 20// 21// You should have received a copy of the GNU Lesser General Public 22// License and a copy of the GNU General Public License along with 23// Eigen. If not, see <http://www.gnu.org/licenses/>. 24 25// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway 26 27 28/** \geometry_module \ingroup Geometry_Module 29 * 30 * \class Translation 31 * 32 * \brief Represents a translation transformation 33 * 34 * \param _Scalar the scalar type, i.e., the type of the coefficients. 35 * \param _Dim the dimension of the space, can be a compile time value or Dynamic 36 * 37 * \note This class is not aimed to be used to store a translation transformation, 38 * but rather to make easier the constructions and updates of Transform objects. 39 * 40 * \sa class Scaling, class Transform 41 */ 42template<typename _Scalar, int _Dim> 43class Translation 44{ 45public: 46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim) 47 /** dimension of the space */ 48 enum { Dim = _Dim }; 49 /** the scalar type of the coefficients */ 50 typedef _Scalar Scalar; 51 /** corresponding vector type */ 52 typedef Matrix<Scalar,Dim,1> VectorType; 53 /** corresponding linear transformation matrix type */ 54 typedef Matrix<Scalar,Dim,Dim> LinearMatrixType; 55 /** corresponding scaling transformation type */ 56 typedef Scaling<Scalar,Dim> ScalingType; 57 /** corresponding affine transformation type */ 58 typedef Transform<Scalar,Dim> TransformType; 59 60protected: 61 62 VectorType m_coeffs; 63 64public: 65 66 /** Default constructor without initialization. */ 67 Translation() {} 68 /** */ 69 inline Translation(const Scalar& sx, const Scalar& sy) 70 { 71 ei_assert(Dim==2); 72 m_coeffs.x() = sx; 73 m_coeffs.y() = sy; 74 } 75 /** */ 76 inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz) 77 { 78 ei_assert(Dim==3); 79 m_coeffs.x() = sx; 80 m_coeffs.y() = sy; 81 m_coeffs.z() = sz; 82 } 83 /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */ 84 explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {} 85 86 const VectorType& vector() const { return m_coeffs; } 87 VectorType& vector() { return m_coeffs; } 88 89 /** Concatenates two translation */ 90 inline Translation operator* (const Translation& other) const 91 { return Translation(m_coeffs + other.m_coeffs); } 92 93 /** Concatenates a translation and a scaling */ 94 inline TransformType operator* (const ScalingType& other) const; 95 96 /** Concatenates a translation and a linear transformation */ 97 inline TransformType operator* (const LinearMatrixType& linear) const; 98 99 template<typename Derived> 100 inline TransformType operator*(const RotationBase<Derived,Dim>& r) const 101 { return *this * r.toRotationMatrix(); } 102 103 /** Concatenates a linear transformation and a translation */ 104 // its a nightmare to define a templated friend function outside its declaration 105 friend inline TransformType operator* (const LinearMatrixType& linear, const Translation& t) 106 { 107 TransformType res; 108 res.matrix().setZero(); 109 res.linear() = linear; 110 res.translation() = linear * t.m_coeffs; 111 res.matrix().row(Dim).setZero(); 112 res(Dim,Dim) = Scalar(1); 113 return res; 114 } 115 116 /** Concatenates a translation and an affine transformation */ 117 inline TransformType operator* (const TransformType& t) const; 118 119 /** Applies translation to vector */ 120 inline VectorType operator* (const VectorType& other) const 121 { return m_coeffs + other; } 122 123 /** \returns the inverse translation (opposite) */ 124 Translation inverse() const { return Translation(-m_coeffs); } 125 126 Translation& operator=(const Translation& other) 127 { 128 m_coeffs = other.m_coeffs; 129 return *this; 130 } 131 132 /** \returns \c *this with scalar type casted to \a NewScalarType 133 * 134 * Note that if \a NewScalarType is equal to the current scalar type of \c *this 135 * then this function smartly returns a const reference to \c *this. 136 */ 137 template<typename NewScalarType> 138 inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const 139 { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); } 140 141 /** Copy constructor with scalar type conversion */ 142 template<typename OtherScalarType> 143 inline explicit Translation(const Translation<OtherScalarType,Dim>& other) 144 { m_coeffs = other.vector().template cast<Scalar>(); } 145 146 /** \returns \c true if \c *this is approximately equal to \a other, within the precision 147 * determined by \a prec. 148 * 149 * \sa MatrixBase::isApprox() */ 150 bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const 151 { return m_coeffs.isApprox(other.m_coeffs, prec); } 152 153}; 154 155/** \addtogroup Geometry_Module */ 156//@{ 157typedef Translation<float, 2> Translation2f; 158typedef Translation<double,2> Translation2d; 159typedef Translation<float, 3> Translation3f; 160typedef Translation<double,3> Translation3d; 161//@} 162 163 164template<typename Scalar, int Dim> 165inline typename Translation<Scalar,Dim>::TransformType 166Translation<Scalar,Dim>::operator* (const ScalingType& other) const 167{ 168 TransformType res; 169 res.matrix().setZero(); 170 res.linear().diagonal() = other.coeffs(); 171 res.translation() = m_coeffs; 172 res(Dim,Dim) = Scalar(1); 173 return res; 174} 175 176template<typename Scalar, int Dim> 177inline typename Translation<Scalar,Dim>::TransformType 178Translation<Scalar,Dim>::operator* (const LinearMatrixType& linear) const 179{ 180 TransformType res; 181 res.matrix().setZero(); 182 res.linear() = linear; 183 res.translation() = m_coeffs; 184 res.matrix().row(Dim).setZero(); 185 res(Dim,Dim) = Scalar(1); 186 return res; 187} 188 189template<typename Scalar, int Dim> 190inline typename Translation<Scalar,Dim>::TransformType 191Translation<Scalar,Dim>::operator* (const TransformType& t) const 192{ 193 TransformType res = t; 194 res.pretranslate(m_coeffs); 195 return res; 196}