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- // This file is part of Eigen, a lightweight C++ template library
- // for linear algebra.
- //
- // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
- //
- // This Source Code Form is subject to the terms of the Mozilla
- // Public License v. 2.0. If a copy of the MPL was not distributed
- // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
- #ifndef EIGEN_TRANSLATION_H
- #define EIGEN_TRANSLATION_H
- namespace Eigen {
- /** \geometry_module \ingroup Geometry_Module
- *
- * \class Translation
- *
- * \brief Represents a translation transformation
- *
- * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
- * \tparam _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 affine transformation type */
- typedef Transform<Scalar,Dim,Affine> AffineTransformType;
- /** corresponding isometric transformation type */
- typedef Transform<Scalar,Dim,Isometry> IsometryTransformType;
- protected:
- VectorType m_coeffs;
- public:
- /** Default constructor without initialization. */
- EIGEN_DEVICE_FUNC Translation() {}
- /** */
- EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
- {
- eigen_assert(Dim==2);
- m_coeffs.x() = sx;
- m_coeffs.y() = sy;
- }
- /** */
- EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
- {
- eigen_assert(Dim==3);
- m_coeffs.x() = sx;
- m_coeffs.y() = sy;
- m_coeffs.z() = sz;
- }
- /** Constructs and initialize the translation transformation from a vector of translation coefficients */
- EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
- /** \brief Retruns the x-translation by value. **/
- EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
- /** \brief Retruns the y-translation by value. **/
- EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
- /** \brief Retruns the z-translation by value. **/
- EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
- /** \brief Retruns the x-translation as a reference. **/
- EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
- /** \brief Retruns the y-translation as a reference. **/
- EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
- /** \brief Retruns the z-translation as a reference. **/
- EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
- EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
- EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
- EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
- EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
- /** Concatenates two translation */
- EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
- { return Translation(m_coeffs + other.m_coeffs); }
- /** Concatenates a translation and a uniform scaling */
- EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
- /** Concatenates a translation and a linear transformation */
- template<typename OtherDerived>
- EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
- /** Concatenates a translation and a rotation */
- template<typename Derived>
- EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
- { return *this * IsometryTransformType(r); }
- /** \returns the concatenation of a linear transformation \a l with the translation \a t */
- // its a nightmare to define a templated friend function outside its declaration
- template<typename OtherDerived> friend
- EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
- {
- AffineTransformType res;
- res.matrix().setZero();
- res.linear() = linear.derived();
- res.translation() = linear.derived() * t.m_coeffs;
- res.matrix().row(Dim).setZero();
- res(Dim,Dim) = Scalar(1);
- return res;
- }
- /** Concatenates a translation and a transformation */
- template<int Mode, int Options>
- EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
- {
- Transform<Scalar,Dim,Mode> res = t;
- res.pretranslate(m_coeffs);
- return res;
- }
- /** Applies translation to vector */
- template<typename Derived>
- inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
- operator* (const MatrixBase<Derived>& vec) const
- { return m_coeffs + vec.derived(); }
- /** \returns the inverse translation (opposite) */
- Translation inverse() const { return Translation(-m_coeffs); }
- static const Translation Identity() { return Translation(VectorType::Zero()); }
- /** \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>
- EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
- { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
- /** Copy constructor with scalar type conversion */
- template<typename OtherScalarType>
- EIGEN_DEVICE_FUNC 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() */
- EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) 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>
- EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
- Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
- {
- AffineTransformType res;
- res.matrix().setZero();
- res.linear().diagonal().fill(other.factor());
- res.translation() = m_coeffs;
- res(Dim,Dim) = Scalar(1);
- return res;
- }
- template<typename Scalar, int Dim>
- template<typename OtherDerived>
- EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
- Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
- {
- AffineTransformType res;
- res.matrix().setZero();
- res.linear() = linear.derived();
- res.translation() = m_coeffs;
- res.matrix().row(Dim).setZero();
- res(Dim,Dim) = Scalar(1);
- return res;
- }
- } // end namespace Eigen
- #endif // EIGEN_TRANSLATION_H
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