Eigen  3.3.3
Translation.h
00001 // This file is part of Eigen, a lightweight C++ template library
00002 // for linear algebra.
00003 //
00004 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
00005 //
00006 // This Source Code Form is subject to the terms of the Mozilla
00007 // Public License v. 2.0. If a copy of the MPL was not distributed
00008 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
00009 
00010 #ifndef EIGEN_TRANSLATION_H
00011 #define EIGEN_TRANSLATION_H
00012 
00013 namespace Eigen { 
00014 
00029 template<typename _Scalar, int _Dim>
00030 class Translation
00031 {
00032 public:
00033   EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
00035   enum { Dim = _Dim };
00037   typedef _Scalar Scalar;
00039   typedef Matrix<Scalar,Dim,1> VectorType;
00041   typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
00043   typedef Transform<Scalar,Dim,Affine> AffineTransformType;
00045   typedef Transform<Scalar,Dim,Isometry> IsometryTransformType;
00046 
00047 protected:
00048 
00049   VectorType m_coeffs;
00050 
00051 public:
00052 
00054   EIGEN_DEVICE_FUNC Translation() {}
00056   EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
00057   {
00058     eigen_assert(Dim==2);
00059     m_coeffs.x() = sx;
00060     m_coeffs.y() = sy;
00061   }
00063   EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
00064   {
00065     eigen_assert(Dim==3);
00066     m_coeffs.x() = sx;
00067     m_coeffs.y() = sy;
00068     m_coeffs.z() = sz;
00069   }
00071   EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
00072 
00074   EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
00076   EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
00078   EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
00079 
00081   EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
00083   EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
00085   EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
00086 
00087   EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
00088   EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
00089 
00090   EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
00091   EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
00092 
00094   EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
00095   { return Translation(m_coeffs + other.m_coeffs); }
00096 
00098   EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
00099 
00101   template<typename OtherDerived>
00102   EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
00103 
00105   template<typename Derived>
00106   EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
00107   { return *this * IsometryTransformType(r); }
00108 
00110   // its a nightmare to define a templated friend function outside its declaration
00111   template<typename OtherDerived> friend
00112   EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
00113   {
00114     AffineTransformType res;
00115     res.matrix().setZero();
00116     res.linear() = linear.derived();
00117     res.translation() = linear.derived() * t.m_coeffs;
00118     res.matrix().row(Dim).setZero();
00119     res(Dim,Dim) = Scalar(1);
00120     return res;
00121   }
00122 
00124   template<int Mode, int Options>
00125   EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
00126   {
00127     Transform<Scalar,Dim,Mode> res = t;
00128     res.pretranslate(m_coeffs);
00129     return res;
00130   }
00131 
00133   template<typename Derived>
00134   inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
00135   operator* (const MatrixBase<Derived>& vec) const
00136   { return m_coeffs + vec.derived(); }
00137 
00139   Translation inverse() const { return Translation(-m_coeffs); }
00140 
00141   Translation& operator=(const Translation& other)
00142   {
00143     m_coeffs = other.m_coeffs;
00144     return *this;
00145   }
00146 
00147   static const Translation Identity() { return Translation(VectorType::Zero()); }
00148 
00154   template<typename NewScalarType>
00155   EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
00156   { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
00157 
00159   template<typename OtherScalarType>
00160   EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
00161   { m_coeffs = other.vector().template cast<Scalar>(); }
00162 
00167   EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
00168   { return m_coeffs.isApprox(other.m_coeffs, prec); }
00169 
00170 };
00171 
00174 typedef Translation<float, 2> Translation2f;
00175 typedef Translation<double,2> Translation2d;
00176 typedef Translation<float, 3> Translation3f;
00177 typedef Translation<double,3> Translation3d;
00179 
00180 template<typename Scalar, int Dim>
00181 EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
00182 Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
00183 {
00184   AffineTransformType res;
00185   res.matrix().setZero();
00186   res.linear().diagonal().fill(other.factor());
00187   res.translation() = m_coeffs;
00188   res(Dim,Dim) = Scalar(1);
00189   return res;
00190 }
00191 
00192 template<typename Scalar, int Dim>
00193 template<typename OtherDerived>
00194 EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
00195 Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
00196 {
00197   AffineTransformType res;
00198   res.matrix().setZero();
00199   res.linear() = linear.derived();
00200   res.translation() = m_coeffs;
00201   res.matrix().row(Dim).setZero();
00202   res(Dim,Dim) = Scalar(1);
00203   return res;
00204 }
00205 
00206 } // end namespace Eigen
00207 
00208 #endif // EIGEN_TRANSLATION_H
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