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update Transform::inverse() to take an optional argument stating whether the transformation is:

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NonAffine, Affine (default), contains NoShear, contains NoScaling
that allows significant speed improvements. If you like it, this concept could be applied to
Transform::extractRotation (or to a more advanced decomposition function) and to Hyperplane::transformed()
and maybe to some other places... e.g., I think a Transform::normalMatrix() function would not harm and
warn user that the transformation of normals is not that trivial (I saw this mistake much too often)
This commit is contained in:
Gael Guennebaud
2008-08-30 12:42:06 +00:00
parent 9e7a9cde14
commit 236b7a545d
6 changed files with 188 additions and 37 deletions
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85
doc/QuickStartGuide.dox
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@@ -569,8 +569,8 @@ m = AngleAxisf(angle1, Vector3f::UnitZ())
<a href="#" class="top">top</a>\section TutorialGeoTransformation Affine transformations
In Eigen we have chosen to not distinghish between points and vectors such that all points are
actually represented by displacement vector from the origine (pt \~ pt-0). With that in mind,
real points and vector distinguish when the rotation is applied.
actually represented by displacement vectors from the origine ( \f$ \mathbf{p} \equiv \mathbf{p}-0 \f$ ).
With that in mind, real points and vector distinguish when the rotation is applied.
<table class="tutorial_code">
<tr><td></td><td>\b 3D </td><td>\b 2D </td></tr>
<tr><td>Creation \n <span class="note">rot2D can also be an angle in radian</span></td><td>\code
@@ -606,6 +606,17 @@ aux.linear().corner<2,2>(TopLeft) = t.linear();
aux.translation().start<2>() = t.translation();
glLoadMatrixf(aux.data());\endcode</td></tr>
<tr><td colspan="3">\b Component \b accessors</td></tr>
<tr><td>full read-write access to the internal matrix</td><td>\code
t.matrix() = mat4x4;
mat4x4 = t.matrix();
\endcode</td><td>\code
t.matrix() = mat3x3;
mat3x3 = t.matrix();
\endcode</td></tr>
<tr><td>coefficient accessors</td><td colspan="2">\code
t(i,j) = scalar; <=> t.matrix()(i,j) = scalar;
scalar = t(i,j); <=> scalar = t.matrix()(i,j);
\endcode</td></tr>
<tr><td>translation part</td><td>\code
t.translation() = vec3;
vec3 = t.translation();
@@ -620,36 +631,50 @@ mat3x3 = t.linear();
t.linear() = mat2x2;
mat2x2 = t.linear();
\endcode</td></tr>
<tr><td colspan="3">\b Editing \b shortcuts</td></tr>
<tr><td>Applies a translation</td><td>\code
t.translate(Vector3f(tx, ty, tz));
t.pretranslate(Vector3f(tx, ty, tz));
\endcode</td><td>\code
t.translate(Vector2f(tx, ty));
t.pretranslate(Vector2f(tx, ty));
\endcode</td></tr>
<tr><td>Applies a rotation \n <span class="note">rot2D can also be an angle in radian</span></td><td>\code
t.rotate(rot3D);
t.prerotate(rot3D);
\endcode</td><td>\code
t.rotate(rot2D);
t.prerotate(rot2D);
\endcode</td></tr>
<tr><td>Applies a scaling</td><td>\code
t.scale(Vector3f(sx, sy, sz));
t.scale(Vector3f::Constant(s));
t.prescale(Vector3f(sx, sy, sz));
\endcode</td><td>\code
t.scale(Vector2f(sx, sy));
t.scale(Vector2f::Constant(s));
t.prescale(Vector2f(sx, sy));
\endcode</td></tr>
<tr><td>Applies a shear transformation \n(2D only)</td><td></td><td>\code
t.shear(sx,sy);
t.preshear(sx,sy);
\endcode</td></tr>
</table>
\b Transformation \b creation \n
Eigen's geometry module offer two different ways to build and update transformation objects.
<table class="tutorial_code">
<tr><td></td><td>\b procedurale \b API </td><td>\b natural \b API </td></tr>
<tr><td>Applies a translation</td><td>\code
t.translate(Vector3(tx, ty, ...));
t.pretranslate(Vector3(tx, ty, ...));
\endcode</td><td>\code
t *= Translation(tx, ty, ...);
t = Translation(tx, ty, ...) * t;
\endcode</td></tr>
<tr><td>Applies a rotation \n <span class="note">In 2D, any_rotation can also be \n an angle in radian</span></td><td>\code
t.rotate(any_rotation);
t.prerotate(any_rotation);
\endcode</td><td>\code
t *= any_rotation;
t = any_rotation * t;
\endcode</td></tr>
<tr><td>Applies a scaling</td><td>\code
t.scale(Vector(sx, sy, ...));
t.scale(Vector::Constant(s));
t.prescale(Vector3f(sx, sy, ...));
\endcode</td><td>\code
t *= Scaling(sx, sy, ...);
t *= Scaling(s);
t = Scaling(sx, sy, ...) * t;
\endcode</td></tr>
<tr><td>Applies a shear transformation \n ( \b 2D \b only ! )</td><td>\code
t.shear(sx,sy);
t.preshear(sx,sy);
\endcode</td><td></td></tr>
</table>
Note that in both API, any many transformations can be concatenated in a single lines as shown in the two following equivalent examples:
<table class="tutorial_code">
<tr><td>\code
t.pretranslate(..).rotate(..).translate(..).scale(..);
\endcode</td></tr>
<tr><td>\code
t = Translation(..) * t * RotationType(..) * Translation(..) * Scaling(..);
\endcode</td></tr>
</table>
*/