Eigen  3.3.0
 
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Translation.h
1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10#ifndef EIGEN_TRANSLATION_H
11#define EIGEN_TRANSLATION_H
12
13namespace Eigen {
14
29template<typename _Scalar, int _Dim>
31{
32public:
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
35 enum { Dim = _Dim };
37 typedef _Scalar Scalar;
46
47protected:
48
49 VectorType m_coeffs;
50
51public:
52
54 EIGEN_DEVICE_FUNC Translation() {}
56 EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
57 {
58 eigen_assert(Dim==2);
59 m_coeffs.x() = sx;
60 m_coeffs.y() = sy;
61 }
63 EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
64 {
65 eigen_assert(Dim==3);
66 m_coeffs.x() = sx;
67 m_coeffs.y() = sy;
68 m_coeffs.z() = sz;
69 }
71 EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
72
74 EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
76 EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
78 EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
79
81 EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
83 EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
85 EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
86
87 EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
88 EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
89
90 EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
91 EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
92
94 EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
95 { return Translation(m_coeffs + other.m_coeffs); }
96
98 EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
99
101 template<typename OtherDerived>
102 EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
103
105 template<typename Derived>
106 EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
107 { return *this * IsometryTransformType(r); }
108
110 // its a nightmare to define a templated friend function outside its declaration
111 template<typename OtherDerived> friend
112 EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
113 {
115 res.matrix().setZero();
116 res.linear() = linear.derived();
117 res.translation() = linear.derived() * t.m_coeffs;
118 res.matrix().row(Dim).setZero();
119 res(Dim,Dim) = Scalar(1);
120 return res;
121 }
122
124 template<int Mode, int Options>
126 {
128 res.pretranslate(m_coeffs);
129 return res;
130 }
131
133 template<typename Derived>
134 inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
136 { return m_coeffs + vec.derived(); }
137
139 Translation inverse() const { return Translation(-m_coeffs); }
140
141 Translation& operator=(const Translation& other)
142 {
143 m_coeffs = other.m_coeffs;
144 return *this;
145 }
146
147 static const Translation Identity() { return Translation(VectorType::Zero()); }
148
154 template<typename NewScalarType>
155 EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
156 { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
157
159 template<typename OtherScalarType>
160 EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
161 { m_coeffs = other.vector().template cast<Scalar>(); }
162
167 EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
168 { return m_coeffs.isApprox(other.m_coeffs, prec); }
169
170};
171
174typedef Translation<float, 2> Translation2f;
175typedef Translation<double,2> Translation2d;
176typedef Translation<float, 3> Translation3f;
177typedef Translation<double,3> Translation3d;
179
180template<typename Scalar, int Dim>
181EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
182Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
183{
185 res.matrix().setZero();
186 res.linear().diagonal().fill(other.factor());
187 res.translation() = m_coeffs;
188 res(Dim,Dim) = Scalar(1);
189 return res;
190}
191
192template<typename Scalar, int Dim>
193template<typename OtherDerived>
194EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
196{
198 res.matrix().setZero();
199 res.linear() = linear.derived();
200 res.translation() = m_coeffs;
201 res.matrix().row(Dim).setZero();
202 res(Dim,Dim) = Scalar(1);
203 return res;
204}
205
206} // end namespace Eigen
207
208#endif // EIGEN_TRANSLATION_H
Derived & derived()
Definition: EigenBase.h:44
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:50
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:180
Derived & setZero(Index size)
Definition: CwiseNullaryOp.h:515
Common base class for compact rotation representations.
Definition: RotationBase.h:30
Represents an homogeneous transformation in a N dimensional space.
Definition: Transform.h:202
const MatrixType & matrix() const
Definition: Transform.h:395
ConstTranslationPart translation() const
Definition: Transform.h:410
ConstLinearPart linear() const
Definition: Transform.h:400
Represents a translation transformation.
Definition: Translation.h:31
Scalar & x()
Retruns the x-translation as a reference.
Definition: Translation.h:81
internal::cast_return_type< Translation, Translation< NewScalarType, Dim > >::type cast() const
Definition: Translation.h:155
Transform< Scalar, Dim, Affine > AffineTransformType
Definition: Translation.h:43
Translation(const Translation< OtherScalarType, Dim > &other)
Definition: Translation.h:160
Matrix< Scalar, Dim, 1 > VectorType
Definition: Translation.h:39
IsometryTransformType operator*(const RotationBase< Derived, Dim > &r) const
Definition: Translation.h:106
bool isApprox(const Translation &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: Translation.h:167
Translation()
Definition: Translation.h:54
Scalar x() const
Retruns the x-translation by value.
Definition: Translation.h:74
friend AffineTransformType operator*(const EigenBase< OtherDerived > &linear, const Translation &t)
Definition: Translation.h:112
Scalar y() const
Retruns the y-translation by value.
Definition: Translation.h:76
Translation inverse() const
Definition: Translation.h:139
Matrix< Scalar, Dim, Dim > LinearMatrixType
Definition: Translation.h:41
Scalar z() const
Retruns the z-translation by value.
Definition: Translation.h:78
Transform< Scalar, Dim, Isometry > IsometryTransformType
Definition: Translation.h:45
_Scalar Scalar
Definition: Translation.h:37
Scalar & z()
Retruns the z-translation as a reference.
Definition: Translation.h:85
Translation(const VectorType &vector)
Definition: Translation.h:71
Scalar & y()
Retruns the y-translation as a reference.
Definition: Translation.h:83
Namespace containing all symbols from the Eigen library.
Definition: Core:287
Definition: EigenBase.h:29
Derived & derived()
Definition: EigenBase.h:44
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Definition: NumTraits.h:151