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Transformation methods added to ParametrizedLine class.

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This commit is contained in:
ermak
2016-12-17 00:45:13 +07:00
parent 0e0d92d34b
commit d60cca32e5
2 changed files with 65 additions and 1 deletions
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39
Eigen/src/Geometry/ParametrizedLine.h
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@@ -104,7 +104,44 @@ public:
template <int OtherOptions>
EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
/** \returns \c *this with scalar type casted to \a NewScalarType
/** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
*
* \param mat the Dim x Dim transformation matrix
* \param traits specifies whether the matrix \a mat represents an #Isometry
* or a more generic #Affine transformation. The default is #Affine.
*/
template<typename XprType>
EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
{
if (traits==Affine)
direction() = (mat * direction()).normalized();
else if (traits==Isometry)
direction() = mat * direction();
else
{
eigen_assert(0 && "invalid traits value in ParametrizedLine::transform()");
}
origin() = mat * origin();
return *this;
}
/** Applies the transformation \a t to \c *this and returns a reference to \c *this.
*
* \param t the transformation of dimension Dim
* \param traits specifies whether the transformation \a t represents an #Isometry
* or a more generic #Affine transformation. The default is #Affine.
* Other kind of transformations are not supported.
*/
template<int TrOptions>
EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
TransformTraits traits = Affine)
{
transform(t.linear(), traits);
origin() += t.translation();
return *this;
}
/** \returns \c *this with scalar type casted to \a NewScalarType
*
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
* then this function smartly returns a const reference to \c *this.