1 | // This file is part of Eigen, a lightweight C++ template library
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2 | // for linear algebra.
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3 | //
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4 | // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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5 | //
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6 | // This Source Code Form is subject to the terms of the Mozilla
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7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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9 |
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10 | #ifndef EIGEN_SCALING_H
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11 | #define EIGEN_SCALING_H
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12 |
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13 | namespace Eigen {
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14 |
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15 | /** \geometry_module \ingroup Geometry_Module
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16 | *
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17 | * \class Scaling
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18 | *
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19 | * \brief Represents a generic uniform scaling transformation
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20 | *
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21 | * \param _Scalar the scalar type, i.e., the type of the coefficients.
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22 | *
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23 | * This class represent a uniform scaling transformation. It is the return
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24 | * type of Scaling(Scalar), and most of the time this is the only way it
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25 | * is used. In particular, this class is not aimed to be used to store a scaling transformation,
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26 | * but rather to make easier the constructions and updates of Transform objects.
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27 | *
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28 | * To represent an axis aligned scaling, use the DiagonalMatrix class.
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29 | *
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30 | * \sa Scaling(), class DiagonalMatrix, MatrixBase::asDiagonal(), class Translation, class Transform
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31 | */
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32 | template<typename _Scalar>
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33 | class UniformScaling
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34 | {
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35 | public:
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36 | /** the scalar type of the coefficients */
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37 | typedef _Scalar Scalar;
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38 |
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39 | protected:
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40 |
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41 | Scalar m_factor;
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42 |
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43 | public:
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44 |
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45 | /** Default constructor without initialization. */
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46 | UniformScaling() {}
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47 | /** Constructs and initialize a uniform scaling transformation */
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48 | explicit inline UniformScaling(const Scalar& s) : m_factor(s) {}
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49 |
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50 | inline const Scalar& factor() const { return m_factor; }
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51 | inline Scalar& factor() { return m_factor; }
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52 |
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53 | /** Concatenates two uniform scaling */
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54 | inline UniformScaling operator* (const UniformScaling& other) const
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55 | { return UniformScaling(m_factor * other.factor()); }
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56 |
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57 | /** Concatenates a uniform scaling and a translation */
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58 | template<int Dim>
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59 | inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const;
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60 |
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61 | /** Concatenates a uniform scaling and an affine transformation */
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62 | template<int Dim, int Mode, int Options>
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63 | inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
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64 | {
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65 | Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
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66 | res.prescale(factor());
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67 | return res;
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68 | }
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69 |
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70 | /** Concatenates a uniform scaling and a linear transformation matrix */
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71 | // TODO returns an expression
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72 | template<typename Derived>
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73 | inline typename internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const
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74 | { return other * m_factor; }
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75 |
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76 | template<typename Derived,int Dim>
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77 | inline Matrix<Scalar,Dim,Dim> operator*(const RotationBase<Derived,Dim>& r) const
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78 | { return r.toRotationMatrix() * m_factor; }
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79 |
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80 | /** \returns the inverse scaling */
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81 | inline UniformScaling inverse() const
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82 | { return UniformScaling(Scalar(1)/m_factor); }
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83 |
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84 | /** \returns \c *this with scalar type casted to \a NewScalarType
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85 | *
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86 | * Note that if \a NewScalarType is equal to the current scalar type of \c *this
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87 | * then this function smartly returns a const reference to \c *this.
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88 | */
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89 | template<typename NewScalarType>
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90 | inline UniformScaling<NewScalarType> cast() const
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91 | { return UniformScaling<NewScalarType>(NewScalarType(m_factor)); }
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92 |
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93 | /** Copy constructor with scalar type conversion */
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94 | template<typename OtherScalarType>
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95 | inline explicit UniformScaling(const UniformScaling<OtherScalarType>& other)
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96 | { m_factor = Scalar(other.factor()); }
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97 |
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98 | /** \returns \c true if \c *this is approximately equal to \a other, within the precision
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99 | * determined by \a prec.
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100 | *
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101 | * \sa MatrixBase::isApprox() */
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102 | bool isApprox(const UniformScaling& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
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103 | { return internal::isApprox(m_factor, other.factor(), prec); }
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104 |
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105 | };
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106 |
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107 | /** Concatenates a linear transformation matrix and a uniform scaling */
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108 | // NOTE this operator is defiend in MatrixBase and not as a friend function
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109 | // of UniformScaling to fix an internal crash of Intel's ICC
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110 | template<typename Derived> typename MatrixBase<Derived>::ScalarMultipleReturnType
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111 | MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
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112 | { return derived() * s.factor(); }
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113 |
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114 | /** Constructs a uniform scaling from scale factor \a s */
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115 | static inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
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116 | /** Constructs a uniform scaling from scale factor \a s */
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117 | static inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
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118 | /** Constructs a uniform scaling from scale factor \a s */
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119 | template<typename RealScalar>
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120 | static inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
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121 | { return UniformScaling<std::complex<RealScalar> >(s); }
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122 |
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123 | /** Constructs a 2D axis aligned scaling */
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124 | template<typename Scalar>
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125 | static inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
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126 | { return DiagonalMatrix<Scalar,2>(sx, sy); }
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127 | /** Constructs a 3D axis aligned scaling */
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128 | template<typename Scalar>
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129 | static inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
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130 | { return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
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131 |
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132 | /** Constructs an axis aligned scaling expression from vector expression \a coeffs
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133 | * This is an alias for coeffs.asDiagonal()
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134 | */
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135 | template<typename Derived>
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136 | static inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
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137 | { return coeffs.asDiagonal(); }
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138 |
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139 | /** \addtogroup Geometry_Module */
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140 | //@{
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141 | /** \deprecated */
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142 | typedef DiagonalMatrix<float, 2> AlignedScaling2f;
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143 | /** \deprecated */
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144 | typedef DiagonalMatrix<double,2> AlignedScaling2d;
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145 | /** \deprecated */
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146 | typedef DiagonalMatrix<float, 3> AlignedScaling3f;
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147 | /** \deprecated */
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148 | typedef DiagonalMatrix<double,3> AlignedScaling3d;
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149 | //@}
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150 |
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151 | template<typename Scalar>
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152 | template<int Dim>
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153 | inline Transform<Scalar,Dim,Affine>
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154 | UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
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155 | {
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156 | Transform<Scalar,Dim,Affine> res;
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157 | res.matrix().setZero();
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158 | res.linear().diagonal().fill(factor());
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159 | res.translation() = factor() * t.vector();
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160 | res(Dim,Dim) = Scalar(1);
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161 | return res;
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162 | }
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163 |
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164 | } // end namespace Eigen
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165 |
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166 | #endif // EIGEN_SCALING_H
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