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* added a RotationBase class following the CRT pattern

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This allow code factorization and generic template specialization
  of functions
* added any_rotation * {Translation,Scaling,Transform} products methods
* rewrite of the actually broken ToRoationMatrix helper class to
  a global ei_toRotationMatrix function.
This commit is contained in:
Gael Guennebaud
2008-08-30 20:11:04 +00:00
parent 027ee14f31
commit 6ba991aa3a
8 changed files with 166 additions and 77 deletions
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26
Eigen/src/Geometry/Transform.h
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@@ -218,6 +218,13 @@ public:
return res;
}
// template<typename Derived>
// inline Transform& operator=(const Rotation<Derived,Dim>& t);
template<typename Derived>
inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
template<typename Derived>
inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
LinearMatrixType extractRotation(TransformTraits traits = GenericAffine) const;
template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
@@ -349,7 +356,7 @@ Transform<Scalar,Dim>::pretranslate(const MatrixBase<OtherDerived> &other)
* to \c *this and returns a reference to \c *this.
*
* The template parameter \a RotationType is the type of the rotation which
* must be registered by ToRotationMatrix<>.
* must be known by ei_toRotationMatrix<>.
*
* Natively supported types includes:
* - any scalar (2D),
@@ -360,14 +367,14 @@ Transform<Scalar,Dim>::pretranslate(const MatrixBase<OtherDerived> &other)
* This mechanism is easily extendable to support user types such as Euler angles,
* or a pair of Quaternion for 4D rotations.
*
* \sa rotate(Scalar), class Quaternion, class AngleAxis, class ToRotationMatrix, prerotate(RotationType)
* \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
*/
template<typename Scalar, int Dim>
template<typename RotationType>
Transform<Scalar,Dim>&
Transform<Scalar,Dim>::rotate(const RotationType& rotation)
{
linear() *= ToRotationMatrix<Scalar,Dim,RotationType>::convert(rotation);
linear() *= ei_toRotationMatrix<Scalar,Dim>(rotation);
return *this;
}
@@ -383,7 +390,7 @@ template<typename RotationType>
Transform<Scalar,Dim>&
Transform<Scalar,Dim>::prerotate(const RotationType& rotation)
{
m_matrix.template block<Dim,HDim>(0,0) = ToRotationMatrix<Scalar,Dim,RotationType>::convert(rotation)
m_matrix.template block<Dim,HDim>(0,0) = ei_toRotationMatrix<Scalar,Dim>(rotation)
* m_matrix.template block<Dim,HDim>(0,0);
return *this;
}
@@ -454,6 +461,15 @@ inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const ScalingType&
return res;
}
template<typename Scalar, int Dim>
template<typename Derived>
inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase<Derived,Dim>& r) const
{
Transform res = *this;
res.rotate(r.derived());
return res;
}
/***************************
*** Specialial functions ***
***************************/
@@ -511,7 +527,7 @@ Transform<Scalar,Dim>&
Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
{
linear() = ToRotationMatrix<Scalar,Dim,OrientationType>::convert(orientation);
linear() = ei_toRotationMatrix<Scalar,Dim>(orientation);
linear() *= scale.asDiagonal();
translation() = position;
m_matrix(Dim,Dim) = 1.;