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Translation.h
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Translation.h
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_TRANSLATION_H
#define EIGEN_TRANSLATION_H
namespace
Eigen
{
/** \geometry_module \ingroup Geometry_Module
*
* \class Translation
*
* \brief Represents a translation transformation
*
* \param _Scalar the scalar type, i.e., the type of the coefficients.
* \param _Dim the dimension of the space, can be a compile time value or Dynamic
*
* \note This class is not aimed to be used to store a translation transformation,
* but rather to make easier the constructions and updates of Transform objects.
*
* \sa class Scaling, class Transform
*/
template
<
typename
_Scalar
,
int
_Dim
>
class
Translation
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE
(
_Scalar
,
_Dim
)
/** dimension of the space */
enum
{
Dim
=
_Dim
};
/** the scalar type of the coefficients */
typedef
_Scalar
Scalar
;
/** corresponding vector type */
typedef
Matrix
<
Scalar
,
Dim
,
1
>
VectorType
;
/** corresponding linear transformation matrix type */
typedef
Matrix
<
Scalar
,
Dim
,
Dim
>
LinearMatrixType
;
/** corresponding affine transformation type */
typedef
Transform
<
Scalar
,
Dim
,
Affine
>
AffineTransformType
;
/** corresponding isometric transformation type */
typedef
Transform
<
Scalar
,
Dim
,
Isometry
>
IsometryTransformType
;
protected:
VectorType
m_coeffs
;
public:
/** Default constructor without initialization. */
Translation
()
{}
/** */
inline
Translation
(
const
Scalar
&
sx
,
const
Scalar
&
sy
)
{
eigen_assert
(
Dim
==
2
);
m_coeffs
.
x
()
=
sx
;
m_coeffs
.
y
()
=
sy
;
}
/** */
inline
Translation
(
const
Scalar
&
sx
,
const
Scalar
&
sy
,
const
Scalar
&
sz
)
{
eigen_assert
(
Dim
==
3
);
m_coeffs
.
x
()
=
sx
;
m_coeffs
.
y
()
=
sy
;
m_coeffs
.
z
()
=
sz
;
}
/** Constructs and initialize the translation transformation from a vector of translation coefficients */
explicit
inline
Translation
(
const
VectorType
&
vector
)
:
m_coeffs
(
vector
)
{}
/** \brief Retruns the x-translation by value. **/
inline
Scalar
x
()
const
{
return
m_coeffs
.
x
();
}
/** \brief Retruns the y-translation by value. **/
inline
Scalar
y
()
const
{
return
m_coeffs
.
y
();
}
/** \brief Retruns the z-translation by value. **/
inline
Scalar
z
()
const
{
return
m_coeffs
.
z
();
}
/** \brief Retruns the x-translation as a reference. **/
inline
Scalar
&
x
()
{
return
m_coeffs
.
x
();
}
/** \brief Retruns the y-translation as a reference. **/
inline
Scalar
&
y
()
{
return
m_coeffs
.
y
();
}
/** \brief Retruns the z-translation as a reference. **/
inline
Scalar
&
z
()
{
return
m_coeffs
.
z
();
}
const
VectorType
&
vector
()
const
{
return
m_coeffs
;
}
VectorType
&
vector
()
{
return
m_coeffs
;
}
const
VectorType
&
translation
()
const
{
return
m_coeffs
;
}
VectorType
&
translation
()
{
return
m_coeffs
;
}
/** Concatenates two translation */
inline
Translation
operator
*
(
const
Translation
&
other
)
const
{
return
Translation
(
m_coeffs
+
other
.
m_coeffs
);
}
/** Concatenates a translation and a uniform scaling */
inline
AffineTransformType
operator
*
(
const
UniformScaling
<
Scalar
>&
other
)
const
;
/** Concatenates a translation and a linear transformation */
template
<
typename
OtherDerived
>
inline
AffineTransformType
operator
*
(
const
EigenBase
<
OtherDerived
>&
linear
)
const
;
/** Concatenates a translation and a rotation */
template
<
typename
Derived
>
inline
IsometryTransformType
operator
*
(
const
RotationBase
<
Derived
,
Dim
>&
r
)
const
{
return
*
this
*
IsometryTransformType
(
r
);
}
/** \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
AffineTransformType
operator
*
(
const
EigenBase
<
OtherDerived
>&
linear
,
const
Translation
&
t
)
{
AffineTransformType
res
;
res
.
matrix
().
setZero
();
res
.
linear
()
=
linear
.
derived
();
res
.
translation
()
=
linear
.
derived
()
*
t
.
m_coeffs
;
res
.
matrix
().
row
(
Dim
).
setZero
();
res
(
Dim
,
Dim
)
=
Scalar
(
1
);
return
res
;
}
/** Concatenates a translation and a transformation */
template
<
int
Mode
,
int
Options
>
inline
Transform
<
Scalar
,
Dim
,
Mode
>
operator
*
(
const
Transform
<
Scalar
,
Dim
,
Mode
,
Options
>&
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
{
return
m_coeffs
+
other
;
}
/** \returns the inverse translation (opposite) */
Translation
inverse
()
const
{
return
Translation
(
-
m_coeffs
);
}
Translation
&
operator
=
(
const
Translation
&
other
)
{
m_coeffs
=
other
.
m_coeffs
;
return
*
this
;
}
static
const
Translation
Identity
()
{
return
Translation
(
VectorType
::
Zero
());
}
/** \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.
*/
template
<
typename
NewScalarType
>
inline
typename
internal
::
cast_return_type
<
Translation
,
Translation
<
NewScalarType
,
Dim
>
>::
type
cast
()
const
{
return
typename
internal
::
cast_return_type
<
Translation
,
Translation
<
NewScalarType
,
Dim
>
>::
type
(
*
this
);
}
/** Copy constructor with scalar type conversion */
template
<
typename
OtherScalarType
>
inline
explicit
Translation
(
const
Translation
<
OtherScalarType
,
Dim
>&
other
)
{
m_coeffs
=
other
.
vector
().
template
cast
<
Scalar
>
();
}
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool
isApprox
(
const
Translation
&
other
,
const
typename
NumTraits
<
Scalar
>::
Real
&
prec
=
NumTraits
<
Scalar
>::
dummy_precision
())
const
{
return
m_coeffs
.
isApprox
(
other
.
m_coeffs
,
prec
);
}
};
/** \addtogroup Geometry_Module */
//@{
typedef
Translation
<
float
,
2
>
Translation2f
;
typedef
Translation
<
double
,
2
>
Translation2d
;
typedef
Translation
<
float
,
3
>
Translation3f
;
typedef
Translation
<
double
,
3
>
Translation3d
;
//@}
template
<
typename
Scalar
,
int
Dim
>
inline
typename
Translation
<
Scalar
,
Dim
>::
AffineTransformType
Translation
<
Scalar
,
Dim
>::
operator
*
(
const
UniformScaling
<
Scalar
>&
other
)
const
{
AffineTransformType
res
;
res
.
matrix
().
setZero
();
res
.
linear
().
diagonal
().
fill
(
other
.
factor
());
res
.
translation
()
=
m_coeffs
;
res
(
Dim
,
Dim
)
=
Scalar
(
1
);
return
res
;
}
template
<
typename
Scalar
,
int
Dim
>
template
<
typename
OtherDerived
>
inline
typename
Translation
<
Scalar
,
Dim
>::
AffineTransformType
Translation
<
Scalar
,
Dim
>::
operator
*
(
const
EigenBase
<
OtherDerived
>&
linear
)
const
{
AffineTransformType
res
;
res
.
matrix
().
setZero
();
res
.
linear
()
=
linear
.
derived
();
res
.
translation
()
=
m_coeffs
;
res
.
matrix
().
row
(
Dim
).
setZero
();
res
(
Dim
,
Dim
)
=
Scalar
(
1
);
return
res
;
}
}
// end namespace Eigen
#endif
// EIGEN_TRANSLATION_H
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