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Tobias Wood
@@ -13,59 +13,54 @@
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// IWYU pragma: private
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#include "./InternalHeaderCheck.h"
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namespace Eigen {
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namespace Eigen {
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/** \geometry_module \ingroup Geometry_Module
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*
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* \class Translation
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*
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* \brief Represents a translation transformation
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*
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* \tparam Scalar_ the scalar type, i.e., the type of the coefficients.
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* \tparam Dim_ the dimension of the space, can be a compile time value or Dynamic
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*
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* \note This class is not aimed to be used to store a translation transformation,
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* but rather to make easier the constructions and updates of Transform objects.
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*
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* \sa class Scaling, class Transform
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*/
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template<typename Scalar_, int Dim_>
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class Translation
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,Dim_)
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*
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* \class Translation
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*
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* \brief Represents a translation transformation
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*
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* \tparam Scalar_ the scalar type, i.e., the type of the coefficients.
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* \tparam Dim_ the dimension of the space, can be a compile time value or Dynamic
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*
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* \note This class is not aimed to be used to store a translation transformation,
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* but rather to make easier the constructions and updates of Transform objects.
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*
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* \sa class Scaling, class Transform
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*/
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template <typename Scalar_, int Dim_>
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class Translation {
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_, Dim_)
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/** dimension of the space */
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enum { Dim = Dim_ };
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/** the scalar type of the coefficients */
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typedef Scalar_ Scalar;
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/** corresponding vector type */
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typedef Matrix<Scalar,Dim,1> VectorType;
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typedef Matrix<Scalar, Dim, 1> VectorType;
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/** corresponding linear transformation matrix type */
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typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
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typedef Matrix<Scalar, Dim, Dim> LinearMatrixType;
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/** corresponding affine transformation type */
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typedef Transform<Scalar,Dim,Affine> AffineTransformType;
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typedef Transform<Scalar, Dim, Affine> AffineTransformType;
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/** corresponding isometric transformation type */
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typedef Transform<Scalar,Dim,Isometry> IsometryTransformType;
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protected:
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typedef Transform<Scalar, Dim, Isometry> IsometryTransformType;
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protected:
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VectorType m_coeffs;
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public:
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public:
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/** Default constructor without initialization. */
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EIGEN_DEVICE_FUNC Translation() {}
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/** */
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EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
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{
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eigen_assert(Dim==2);
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EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy) {
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eigen_assert(Dim == 2);
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m_coeffs.x() = sx;
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m_coeffs.y() = sy;
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}
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/** */
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EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
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{
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eigen_assert(Dim==3);
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EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz) {
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eigen_assert(Dim == 3);
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m_coeffs.x() = sx;
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m_coeffs.y() = sy;
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m_coeffs.z() = sz;
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@@ -94,49 +89,51 @@ public:
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EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
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/** Concatenates two translation */
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EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
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{ return Translation(m_coeffs + other.m_coeffs); }
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EIGEN_DEVICE_FUNC inline Translation operator*(const Translation& other) const {
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return Translation(m_coeffs + other.m_coeffs);
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}
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/** Concatenates a translation and a uniform scaling */
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EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
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EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const UniformScaling<Scalar>& other) const;
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/** Concatenates a translation and a linear transformation */
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear) const;
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/** Concatenates a translation and a rotation */
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template<typename Derived>
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EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
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{ return *this * IsometryTransformType(r); }
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template <typename Derived>
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EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived, Dim>& r) const {
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return *this * IsometryTransformType(r);
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}
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/** \returns the concatenation of a linear transformation \a l with the translation \a t */
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// its a nightmare to define a templated friend function outside its declaration
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template<typename OtherDerived> friend
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EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
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{
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template <typename OtherDerived>
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friend EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear,
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const Translation& t) {
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AffineTransformType res;
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res.matrix().setZero();
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res.linear() = linear.derived();
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res.translation() = linear.derived() * t.m_coeffs;
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res.matrix().row(Dim).setZero();
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res(Dim,Dim) = Scalar(1);
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res(Dim, Dim) = Scalar(1);
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return res;
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}
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/** Concatenates a translation and a transformation */
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template<int Mode, int Options>
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EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
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{
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Transform<Scalar,Dim,Mode> res = t;
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template <int Mode, int Options>
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EIGEN_DEVICE_FUNC inline Transform<Scalar, Dim, Mode> operator*(
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const Transform<Scalar, Dim, Mode, Options>& t) const {
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Transform<Scalar, Dim, Mode> res = t;
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res.pretranslate(m_coeffs);
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return res;
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}
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/** Applies translation to vector */
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template<typename Derived>
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inline std::enable_if_t<Derived::IsVectorAtCompileTime,VectorType>
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operator* (const MatrixBase<Derived>& vec) const
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{ return m_coeffs + vec.derived(); }
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template <typename Derived>
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inline std::enable_if_t<Derived::IsVectorAtCompileTime, VectorType> operator*(const MatrixBase<Derived>& vec) const {
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return m_coeffs + vec.derived();
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}
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/** \returns the inverse translation (opposite) */
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Translation inverse() const { return Translation(-m_coeffs); }
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@@ -144,62 +141,64 @@ public:
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static const Translation Identity() { return Translation(VectorType::Zero()); }
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/** \returns \c *this with scalar type casted to \a NewScalarType
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*
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this
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* then this function smartly returns a const reference to \c *this.
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*/
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template<typename NewScalarType>
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EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
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{ return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
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*
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this
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* then this function smartly returns a const reference to \c *this.
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*/
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template <typename NewScalarType>
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EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation, Translation<NewScalarType, Dim> >::type
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cast() const {
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return typename internal::cast_return_type<Translation, Translation<NewScalarType, Dim> >::type(*this);
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}
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/** Copy constructor with scalar type conversion */
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template<typename OtherScalarType>
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EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
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{ m_coeffs = other.vector().template cast<Scalar>(); }
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template <typename OtherScalarType>
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EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType, Dim>& other) {
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m_coeffs = other.vector().template cast<Scalar>();
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}
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/** \returns \c true if \c *this is approximately equal to \a other, within the precision
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* determined by \a prec.
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*
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* \sa MatrixBase::isApprox() */
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EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
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{ return m_coeffs.isApprox(other.m_coeffs, prec); }
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* determined by \a prec.
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*
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* \sa MatrixBase::isApprox() */
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EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec =
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NumTraits<Scalar>::dummy_precision()) const {
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return m_coeffs.isApprox(other.m_coeffs, prec);
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}
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};
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/** \addtogroup Geometry_Module */
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//@{
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typedef Translation<float, 2> Translation2f;
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typedef Translation<double,2> Translation2d;
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typedef Translation<double, 2> Translation2d;
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typedef Translation<float, 3> Translation3f;
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typedef Translation<double,3> Translation3d;
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typedef Translation<double, 3> Translation3d;
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//@}
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template<typename Scalar, int Dim>
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EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
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Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
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{
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template <typename Scalar, int Dim>
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EIGEN_DEVICE_FUNC inline typename Translation<Scalar, Dim>::AffineTransformType Translation<Scalar, Dim>::operator*(
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const UniformScaling<Scalar>& other) const {
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AffineTransformType res;
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res.matrix().setZero();
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res.linear().diagonal().fill(other.factor());
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res.translation() = m_coeffs;
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res(Dim,Dim) = Scalar(1);
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res(Dim, Dim) = Scalar(1);
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return res;
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}
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template<typename Scalar, int Dim>
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template<typename OtherDerived>
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EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
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Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
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{
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template <typename Scalar, int Dim>
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template <typename OtherDerived>
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EIGEN_DEVICE_FUNC inline typename Translation<Scalar, Dim>::AffineTransformType Translation<Scalar, Dim>::operator*(
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const EigenBase<OtherDerived>& linear) const {
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AffineTransformType res;
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res.matrix().setZero();
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res.linear() = linear.derived();
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res.translation() = m_coeffs;
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res.matrix().row(Dim).setZero();
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res(Dim,Dim) = Scalar(1);
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res(Dim, Dim) = Scalar(1);
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return res;
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}
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} // end namespace Eigen
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} // end namespace Eigen
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#endif // EIGEN_TRANSLATION_H
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#endif // EIGEN_TRANSLATION_H
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