/src/Geometry_Eigen/Eigen/src/Eigen2Support/Geometry/Translation.h
http://github.com/Akranar/daguerreo · C Header · 196 lines · 101 code · 26 blank · 69 comment · 0 complexity · 7918364c7edde9001d10e831262cbf4a MD5 · raw file
- // This file is part of Eigen, a lightweight C++ template library
- // for linear algebra. Eigen itself is part of the KDE project.
- //
- // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
- //
- // Eigen is free software; you can redistribute it and/or
- // modify it under the terms of the GNU Lesser General Public
- // License as published by the Free Software Foundation; either
- // version 3 of the License, or (at your option) any later version.
- //
- // Alternatively, you can redistribute it and/or
- // modify it under the terms of the GNU General Public License as
- // published by the Free Software Foundation; either version 2 of
- // the License, or (at your option) any later version.
- //
- // Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
- // WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- // FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
- // GNU General Public License for more details.
- //
- // You should have received a copy of the GNU Lesser General Public
- // License and a copy of the GNU General Public License along with
- // Eigen. If not, see <http://www.gnu.org/licenses/>.
- // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
- /** \geometry_module \ingroup Geometry_Module
- *
- * \class Translation
- *
- * \brief Represents a translation transformation
- *
- * \param _Scalar the scalar type, i.e., the type of the coefficients.
- * \param _Dim the dimension of the space, can be a compile time value or Dynamic
- *
- * \note This class is not aimed to be used to store a translation transformation,
- * but rather to make easier the constructions and updates of Transform objects.
- *
- * \sa class Scaling, class Transform
- */
- template<typename _Scalar, int _Dim>
- class Translation
- {
- public:
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
- /** dimension of the space */
- enum { Dim = _Dim };
- /** the scalar type of the coefficients */
- typedef _Scalar Scalar;
- /** corresponding vector type */
- typedef Matrix<Scalar,Dim,1> VectorType;
- /** corresponding linear transformation matrix type */
- typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
- /** corresponding scaling transformation type */
- typedef Scaling<Scalar,Dim> ScalingType;
- /** corresponding affine transformation type */
- typedef Transform<Scalar,Dim> TransformType;
- protected:
- VectorType m_coeffs;
- public:
- /** Default constructor without initialization. */
- Translation() {}
- /** */
- inline Translation(const Scalar& sx, const Scalar& sy)
- {
- ei_assert(Dim==2);
- m_coeffs.x() = sx;
- m_coeffs.y() = sy;
- }
- /** */
- inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
- {
- ei_assert(Dim==3);
- m_coeffs.x() = sx;
- m_coeffs.y() = sy;
- m_coeffs.z() = sz;
- }
- /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
- explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
- const VectorType& vector() const { return m_coeffs; }
- VectorType& vector() { return m_coeffs; }
- /** Concatenates two translation */
- inline Translation operator* (const Translation& other) const
- { return Translation(m_coeffs + other.m_coeffs); }
- /** Concatenates a translation and a scaling */
- inline TransformType operator* (const ScalingType& other) const;
- /** Concatenates a translation and a linear transformation */
- inline TransformType operator* (const LinearMatrixType& linear) const;
- template<typename Derived>
- inline TransformType operator*(const RotationBase<Derived,Dim>& r) const
- { return *this * r.toRotationMatrix(); }
- /** Concatenates a linear transformation and a translation */
- // its a nightmare to define a templated friend function outside its declaration
- friend inline TransformType operator* (const LinearMatrixType& linear, const Translation& t)
- {
- TransformType res;
- res.matrix().setZero();
- res.linear() = linear;
- res.translation() = linear * t.m_coeffs;
- res.matrix().row(Dim).setZero();
- res(Dim,Dim) = Scalar(1);
- return res;
- }
- /** Concatenates a translation and an affine transformation */
- inline TransformType operator* (const TransformType& t) const;
- /** Applies translation to vector */
- inline VectorType operator* (const VectorType& other) const
- { return m_coeffs + other; }
- /** \returns the inverse translation (opposite) */
- Translation inverse() const { return Translation(-m_coeffs); }
- Translation& operator=(const Translation& other)
- {
- m_coeffs = other.m_coeffs;
- return *this;
- }
- /** \returns \c *this with scalar type casted to \a NewScalarType
- *
- * Note that if \a NewScalarType is equal to the current scalar type of \c *this
- * then this function smartly returns a const reference to \c *this.
- */
- template<typename NewScalarType>
- inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
- { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
- /** Copy constructor with scalar type conversion */
- template<typename OtherScalarType>
- inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
- { m_coeffs = other.vector().template cast<Scalar>(); }
- /** \returns \c true if \c *this is approximately equal to \a other, within the precision
- * determined by \a prec.
- *
- * \sa MatrixBase::isApprox() */
- bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
- { return m_coeffs.isApprox(other.m_coeffs, prec); }
- };
- /** \addtogroup Geometry_Module */
- //@{
- typedef Translation<float, 2> Translation2f;
- typedef Translation<double,2> Translation2d;
- typedef Translation<float, 3> Translation3f;
- typedef Translation<double,3> Translation3d;
- //@}
- template<typename Scalar, int Dim>
- inline typename Translation<Scalar,Dim>::TransformType
- Translation<Scalar,Dim>::operator* (const ScalingType& other) const
- {
- TransformType res;
- res.matrix().setZero();
- res.linear().diagonal() = other.coeffs();
- res.translation() = m_coeffs;
- res(Dim,Dim) = Scalar(1);
- return res;
- }
- template<typename Scalar, int Dim>
- inline typename Translation<Scalar,Dim>::TransformType
- Translation<Scalar,Dim>::operator* (const LinearMatrixType& linear) const
- {
- TransformType res;
- res.matrix().setZero();
- res.linear() = linear;
- res.translation() = m_coeffs;
- res.matrix().row(Dim).setZero();
- res(Dim,Dim) = Scalar(1);
- return res;
- }
- template<typename Scalar, int Dim>
- inline typename Translation<Scalar,Dim>::TransformType
- Translation<Scalar,Dim>::operator* (const TransformType& t) const
- {
- TransformType res = t;
- res.pretranslate(m_coeffs);
- return res;
- }