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Diffstat (limited to 'extern/Eigen2/Eigen/src/Geometry/Translation.h')
| -rw-r--r-- | extern/Eigen2/Eigen/src/Geometry/Translation.h | 198 |
1 files changed, 0 insertions, 198 deletions
diff --git a/extern/Eigen2/Eigen/src/Geometry/Translation.h b/extern/Eigen2/Eigen/src/Geometry/Translation.h deleted file mode 100644 index 4b2fc7a56fc..00000000000 --- a/extern/Eigen2/Eigen/src/Geometry/Translation.h +++ /dev/null @@ -1,198 +0,0 @@ -// 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/>. - -#ifndef EIGEN_TRANSLATION_H -#define EIGEN_TRANSLATION_H - -/** \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 ei_cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const - { return typename ei_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; -} - -#endif // EIGEN_TRANSLATION_H |