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big rework of the Transform class:

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* add Projective and AffineCompact modes as an optional third template
  argument
* extend Transform::operator* to support more use cases
This commit is contained in:
Gael Guennebaud
2009-03-08 11:35:30 +00:00
parent 7718a8ed83
commit 3ac42fed94
7 changed files with 638 additions and 234 deletions
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20
Eigen/src/Geometry/Homogeneous.h
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@@ -99,6 +99,26 @@ template<typename MatrixType,int Direction> class Homogeneous
ei_assert(Direction==Vertical);
return ei_homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
}
template<typename Scalar, int Dim, int Mode> friend
inline const ei_homogeneous_left_product_impl<Homogeneous,
typename Transform<Scalar,Dim,Mode>::AffinePart>
operator* (const Transform<Scalar,Dim,Mode>& tr, const Homogeneous& rhs)
{
ei_assert(Direction==Vertical);
return ei_homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Mode>::AffinePart>
(tr.affine(),rhs.m_matrix);
}
template<typename Scalar, int Dim> friend
inline const ei_homogeneous_left_product_impl<Homogeneous,
typename Transform<Scalar,Dim,Projective>::MatrixType>
operator* (const Transform<Scalar,Dim,Projective>& tr, const Homogeneous& rhs)
{
ei_assert(Direction==Vertical);
return ei_homogeneous_left_product_impl<Homogeneous,typename Transform<Scalar,Dim,Projective>::MatrixType>
(tr.matrix(),rhs.m_matrix);
}
protected:
const typename MatrixType::Nested m_matrix;

5
Eigen/src/Geometry/RotationBase.h
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@@ -99,8 +99,9 @@ class RotationBase
inline RotationMatrixType operator*(const MatrixBase<OtherDerived>& l, const Derived& r)
{ return l.derived() * r.toRotationMatrix(); }
/** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
/** \returns the concatenation of the rotation \c *this with a transformation \a t */
template<int Mode>
inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode>& t) const
{ return toRotationMatrix() * t; }
template<typename OtherVectorType>

743
Eigen/src/Geometry/Transform.h
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File diff suppressed because it is too large Load Diff

37
Eigen/src/Geometry/Translation.h
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@@ -53,7 +53,7 @@ public:
/** corresponding linear transformation matrix type */
typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
/** corresponding affine transformation type */
typedef Transform<Scalar,Dim> TransformType;
typedef Transform<Scalar,Dim> AffineTransformType;
protected:
@@ -89,23 +89,23 @@ public:
{ return Translation(m_coeffs + other.m_coeffs); }
/** Concatenates a translation and a uniform scaling */
inline TransformType operator* (const UniformScaling<Scalar>& other) const;
inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
/** Concatenates a translation and a linear transformation */
template<typename OtherDerived>
inline TransformType operator* (const MatrixBase<OtherDerived>& linear) const;
inline AffineTransformType operator* (const MatrixBase<OtherDerived>& linear) const;
/** Concatenates a translation and a rotation */
template<typename Derived>
inline TransformType operator*(const RotationBase<Derived,Dim>& r) const
inline AffineTransformType operator*(const RotationBase<Derived,Dim>& r) const
{ return *this * r.toRotationMatrix(); }
/** \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
inline TransformType operator*(const MatrixBase<OtherDerived>& linear, const Translation& t)
inline AffineTransformType operator*(const MatrixBase<OtherDerived>& linear, const Translation& t)
{
TransformType res;
AffineTransformType res;
res.matrix().setZero();
res.linear() = linear.derived();
res.translation() = linear.derived() * t.m_coeffs;
@@ -115,7 +115,13 @@ public:
}
/** Concatenates a translation and an affine transformation */
inline TransformType operator* (const TransformType& t) const;
template<int Mode>
inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode>& t) const
{
Transform<Scalar,Dim,Mode> res = t;
res.pretranslate(m_coeffs);
return res;
}
/** Applies translation to vector */
inline VectorType operator* (const VectorType& other) const
@@ -162,10 +168,10 @@ typedef Translation<double,3> Translation3d;
//@}
template<typename Scalar, int Dim>
inline typename Translation<Scalar,Dim>::TransformType
inline typename Translation<Scalar,Dim>::AffineTransformType
Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
{
TransformType res;
AffineTransformType res;
res.matrix().setZero();
res.linear().diagonal().fill(other.factor());
res.translation() = m_coeffs;
@@ -175,10 +181,10 @@ Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
template<typename Scalar, int Dim>
template<typename OtherDerived>
inline typename Translation<Scalar,Dim>::TransformType
inline typename Translation<Scalar,Dim>::AffineTransformType
Translation<Scalar,Dim>::operator* (const MatrixBase<OtherDerived>& linear) const
{
TransformType res;
AffineTransformType res;
res.matrix().setZero();
res.linear() = linear.derived();
res.translation() = m_coeffs;
@@ -187,13 +193,4 @@ Translation<Scalar,Dim>::operator* (const MatrixBase<OtherDerived>& linear) cons
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