10#ifndef EIGEN_SCALING_H
11#define EIGEN_SCALING_H
32template<
typename _Scalar>
37 typedef _Scalar Scalar;
48 explicit inline UniformScaling(
const Scalar& s) : m_factor(s) {}
50 inline const Scalar& factor()
const {
return m_factor; }
51 inline Scalar& factor() {
return m_factor; }
54 inline UniformScaling operator* (
const UniformScaling& other)
const
55 {
return UniformScaling(m_factor * other.factor()); }
59 inline Transform<Scalar,Dim,Affine> operator* (
const Translation<Scalar,Dim>& t)
const;
62 template<
int Dim,
int Mode,
int Options>
63 inline Transform<Scalar,Dim,(int(Mode)==int(
Isometry)?
Affine:Mode)>
operator* (
const Transform<Scalar,Dim, Mode, Options>& t)
const
65 Transform<Scalar,Dim,(int(Mode)==int(
Isometry)?
Affine:Mode)> res = t;
66 res.prescale(factor());
72 template<
typename Derived>
73 inline typename internal::plain_matrix_type<Derived>::type operator* (
const MatrixBase<Derived>& other)
const
74 {
return other * m_factor; }
76 template<
typename Derived,
int Dim>
77 inline Matrix<Scalar,Dim,Dim> operator*(
const RotationBase<Derived,Dim>& r)
const
78 {
return r.toRotationMatrix() * m_factor; }
81 inline UniformScaling inverse()
const
82 {
return UniformScaling(Scalar(1)/m_factor); }
89 template<
typename NewScalarType>
90 inline UniformScaling<NewScalarType> cast()
const
91 {
return UniformScaling<NewScalarType>(NewScalarType(m_factor)); }
94 template<
typename OtherScalarType>
95 inline explicit UniformScaling(
const UniformScaling<OtherScalarType>& other)
96 { m_factor = Scalar(other.factor()); }
102 bool isApprox(
const UniformScaling& other,
const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision())
const
103 {
return internal::isApprox(m_factor, other.factor(), prec); }
115template<
typename Derived,
typename Scalar>
116EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product)
117operator*(
const MatrixBase<Derived>& matrix,
const UniformScaling<Scalar>& s)
118{
return matrix.derived() * s.factor(); }
121inline UniformScaling<float>
Scaling(
float s) {
return UniformScaling<float>(s); }
123inline UniformScaling<double>
Scaling(
double s) {
return UniformScaling<double>(s); }
125template<
typename RealScalar>
126inline UniformScaling<std::complex<RealScalar> >
Scaling(
const std::complex<RealScalar>& s)
127{
return UniformScaling<std::complex<RealScalar> >(s); }
130template<
typename Scalar>
131inline DiagonalMatrix<Scalar,2>
Scaling(
const Scalar& sx,
const Scalar& sy)
132{
return DiagonalMatrix<Scalar,2>(sx, sy); }
134template<
typename Scalar>
135inline DiagonalMatrix<Scalar,3>
Scaling(
const Scalar& sx,
const Scalar& sy,
const Scalar& sz)
136{
return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
141template<
typename Derived>
142inline const DiagonalWrapper<const Derived>
Scaling(
const MatrixBase<Derived>& coeffs)
143{
return coeffs.asDiagonal(); }
155template<
typename Scalar>
157inline Transform<Scalar,Dim,Affine>
158UniformScaling<Scalar>::operator* (
const Translation<Scalar,Dim>& t)
const
160 Transform<Scalar,Dim,Affine> res;
161 res.matrix().setZero();
162 res.linear().diagonal().fill(factor());
163 res.translation() = factor() * t.vector();
164 res(Dim,Dim) = Scalar(1);
Represents a generic uniform scaling transformation.
@ Affine
Definition Constants.h:450
@ Isometry
Definition Constants.h:447
Namespace containing all symbols from the Eigen library.
Definition Core:287
DiagonalMatrix< double, 3 > AlignedScaling3d
Definition Scaling.h:152
DiagonalMatrix< float, 3 > AlignedScaling3f
Definition Scaling.h:150
DiagonalMatrix< float, 2 > AlignedScaling2f
Definition Scaling.h:146
DiagonalMatrix< double, 2 > AlignedScaling2d
Definition Scaling.h:148