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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, 198 insertions, 0 deletions
diff --git a/extern/Eigen2/Eigen/src/Geometry/Translation.h b/extern/Eigen2/Eigen/src/Geometry/Translation.h new file mode 100644 index 00000000000..4b2fc7a56fc --- /dev/null +++ b/extern/Eigen2/Eigen/src/Geometry/Translation.h @@ -0,0 +1,198 @@ +// 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 |