devtools/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2026-04-10 11:34:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Big change in DiagonalMatrix and Geometry/Scaling:

Browse Source 
* previous DiagonalMatrix expression is now DiagonalMatrixWrapper
* DiagonalMatrix class is now for storage
* add the DiagonalMatrixBase class to factorize code of the
  two previous classes
* remove Scaling class (it is now a global function)
* add UniformScaling helper class
  (don't use it directly, use the Scaling function)
* add the Scaling global function to simplify the creation
  of scaling objects
There is still a lot to do, in particular about DiagonalProduct for which
the goal is to get rid of the "if()" in the coeff() function. At least
it is not worse than before ! Also need to uptade the tutorial and add more doc.
This commit is contained in:
Gael Guennebaud
2009-01-28 16:26:06 +00:00
parent da555585e2
commit 1b194193ef
13 changed files with 439 additions and 237 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
Eigen/src/Geometry/Translation.h
View File

@@ -52,8 +52,6 @@ public:
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;
@@ -80,7 +78,7 @@ public:
m_coeffs.y() = sy;
m_coeffs.z() = sz;
}
/** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
/** Constructs and initialize the translation transformation from a vector of translation coefficients */
explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
const VectorType& vector() const { return m_coeffs; }
@@ -90,24 +88,27 @@ public:
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 uniform scaling */
inline TransformType operator* (const UniformScaling<Scalar>& other) const;
/** Concatenates a translation and a linear transformation */
inline TransformType operator* (const LinearMatrixType& linear) const;
template<typename OtherDerived>
inline TransformType operator* (const MatrixBase<OtherDerived>& linear) const;
/** Concatenates a translation and a rotation */
template<typename Derived>
inline TransformType operator*(const RotationBase<Derived,Dim>& r) const
{ return *this * r.toRotationMatrix(); }
/** Concatenates a linear transformation and a translation */
/** \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
friend inline TransformType operator* (const LinearMatrixType& linear, const Translation& t)
template<typename OtherDerived> friend
inline TransformType operator*(const MatrixBase<OtherDerived>& linear, const Translation& t)
{
TransformType res;
res.matrix().setZero();
res.linear() = linear;
res.translation() = linear * t.m_coeffs;
res.linear() = linear.derived();
res.translation() = linear.derived() * t.m_coeffs;
res.matrix().row(Dim).setZero();
res(Dim,Dim) = Scalar(1);
return res;
@@ -160,26 +161,26 @@ 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
Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
{
TransformType res;
res.matrix().setZero();
res.linear().diagonal() = other.coeffs();
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>
inline typename Translation<Scalar,Dim>::TransformType
Translation<Scalar,Dim>::operator* (const LinearMatrixType& linear) const
Translation<Scalar,Dim>::operator* (const MatrixBase<OtherDerived>& linear) const
{
TransformType res;
res.matrix().setZero();
res.linear() = linear;
res.linear() = linear.derived();
res.translation() = m_coeffs;
res.matrix().row(Dim).setZero();
res(Dim,Dim) = Scalar(1);