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Add Scaling and Translation class as discussed on ML, still missing:

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* handling Quaternion, AngleAxis and Rotation2D, 2 options here:
 1- make all of them inheriting a common base class Rotation such that we can
    have a single version of operator* for all the rotation type (they all get converted to a matrix)
 2- write a version for all type (so 3 rotations types * 3 for Transform,Translation and Scaling)
* real documentation
This commit is contained in:
Gael Guennebaud
2008-08-30 00:08:23 +00:00
parent 13a9d93bc0
commit 9e7a9cde14
6 changed files with 429 additions and 16 deletions
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68
Eigen/src/Geometry/Transform.h
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@@ -73,6 +73,8 @@ public:
typedef Matrix<Scalar,Dim,1> VectorType;
/** type of a read/write reference to the translation part of the rotation */
typedef Block<MatrixType,Dim,1> TranslationPart;
typedef Translation<Scalar,Dim> TranslationType;
typedef Scaling<Scalar,Dim> ScalingType;
protected:
@@ -81,7 +83,7 @@ protected:
public:
/** Default constructor without initialization of the coefficients. */
Transform() { }
inline Transform() { }
inline Transform(const Transform& other)
{ m_matrix = other.m_matrix; }
@@ -129,10 +131,10 @@ public:
/** shortcut for m_matrix(row,col);
* \sa MatrixBase::operaror(int,int) const */
Scalar operator() (int row, int col) const { return m_matrix(row,col); }
inline Scalar operator() (int row, int col) const { return m_matrix(row,col); }
/** shortcut for m_matrix(row,col);
* \sa MatrixBase::operaror(int,int) */
Scalar& operator() (int row, int col) { return m_matrix(row,col); }
inline Scalar& operator() (int row, int col) { return m_matrix(row,col); }
/** \returns a read-only expression of the transformation matrix */
inline const MatrixType& matrix() const { return m_matrix; }
@@ -158,12 +160,12 @@ public:
*/
// note: this function is defined here because some compilers cannot find the respective declaration
template<typename OtherDerived>
const typename ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType
inline const typename ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType
operator * (const MatrixBase<OtherDerived> &other) const
{ return ei_transform_product_impl<OtherDerived,Dim,HDim>::run(*this,other.derived()); }
/** Contatenates two transformations */
const typename ProductReturnType<MatrixType,MatrixType>::Type
inline const typename ProductReturnType<MatrixType,MatrixType>::Type
operator * (const Transform& other) const
{ return m_matrix * other.matrix(); }
@@ -171,26 +173,38 @@ public:
void setIdentity() { m_matrix.setIdentity(); }
template<typename OtherDerived>
Transform& scale(const MatrixBase<OtherDerived> &other);
inline Transform& scale(const MatrixBase<OtherDerived> &other);
template<typename OtherDerived>
Transform& prescale(const MatrixBase<OtherDerived> &other);
inline Transform& prescale(const MatrixBase<OtherDerived> &other);
template<typename OtherDerived>
Transform& translate(const MatrixBase<OtherDerived> &other);
inline Transform& translate(const MatrixBase<OtherDerived> &other);
template<typename OtherDerived>
Transform& pretranslate(const MatrixBase<OtherDerived> &other);
inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
template<typename RotationType>
Transform& rotate(const RotationType& rotation);
inline Transform& rotate(const RotationType& rotation);
template<typename RotationType>
Transform& prerotate(const RotationType& rotation);
inline Transform& prerotate(const RotationType& rotation);
Transform& shear(Scalar sx, Scalar sy);
Transform& preshear(Scalar sx, Scalar sy);
inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
inline Transform operator*(const TranslationType& t) const;
inline Transform& operator*=(const ScalingType& s) { return scale(s.coeffs()); }
inline Transform operator*(const ScalingType& s) const;
friend inline Transform operator*(const LinearMatrixType& mat, const Transform& t)
{
Transform res = t;
res.matrix().row(Dim) = t.matrix().row(Dim);
res.matrix().template block<Dim,HDim>(0,0) = (mat * t.matrix().template block<Dim,HDim>(0,0)).lazy();
return res;
}
LinearMatrixType extractRotation() const;
LinearMatrixType extractRotationNoShear() const;
@@ -385,6 +399,22 @@ Transform<Scalar,Dim>::preshear(Scalar sx, Scalar sy)
return *this;
}
template<typename Scalar, int Dim>
inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const TranslationType& t) const
{
Transform res = *this;
res.translate(t.vector());
return res;
}
template<typename Scalar, int Dim>
inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const ScalingType& s) const
{
Transform res = *this;
res.scale(s.coeffs());
return res;
}
/** \returns the rotation part of the transformation using a QR decomposition.
* \sa extractRotationNoShear(), class QR
*/
@@ -438,6 +468,22 @@ struct ei_transform_product_impl<Other,Dim,HDim, HDim,HDim>
{ return tr.matrix() * other; }
};
template<typename Other, int Dim, int HDim>
struct ei_transform_product_impl<Other,Dim,HDim, Dim,Dim>
{
typedef Transform<typename Other::Scalar,Dim> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef TransformType ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{
TransformType res;
res.translation() = tr.translation();
res.matrix().row(Dim) = tr.matrix().row(Dim);
res.linear() = (tr.linear() * other).lazy();
return res;
}
};
template<typename Other, int Dim, int HDim>
struct ei_transform_product_impl<Other,Dim,HDim, HDim,1>
{