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 | // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
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6 | // Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
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7 | //
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8 | // This Source Code Form is subject to the terms of the Mozilla
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9 | // Public License v. 2.0. If a copy of the MPL was not distributed
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10 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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11 |
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12 | #ifndef EIGEN_TRANSFORM_H
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13 | #define EIGEN_TRANSFORM_H
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14 |
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15 | namespace Eigen {
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16 |
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17 | namespace internal {
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18 |
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19 | template<typename Transform>
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20 | struct transform_traits
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21 | {
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22 | enum
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23 | {
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24 | Dim = Transform::Dim,
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25 | HDim = Transform::HDim,
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26 | Mode = Transform::Mode,
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27 | IsProjective = (int(Mode)==int(Projective))
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28 | };
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29 | };
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30 |
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31 | template< typename TransformType,
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32 | typename MatrixType,
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33 | int Case = transform_traits<TransformType>::IsProjective ? 0
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34 | : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
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35 | : 2>
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36 | struct transform_right_product_impl;
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37 |
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38 | template< typename Other,
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39 | int Mode,
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40 | int Options,
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41 | int Dim,
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42 | int HDim,
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43 | int OtherRows=Other::RowsAtCompileTime,
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44 | int OtherCols=Other::ColsAtCompileTime>
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45 | struct transform_left_product_impl;
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46 |
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47 | template< typename Lhs,
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48 | typename Rhs,
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49 | bool AnyProjective =
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50 | transform_traits<Lhs>::IsProjective ||
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51 | transform_traits<Rhs>::IsProjective>
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52 | struct transform_transform_product_impl;
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53 |
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54 | template< typename Other,
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55 | int Mode,
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56 | int Options,
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57 | int Dim,
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58 | int HDim,
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59 | int OtherRows=Other::RowsAtCompileTime,
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60 | int OtherCols=Other::ColsAtCompileTime>
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61 | struct transform_construct_from_matrix;
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62 |
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63 | template<typename TransformType> struct transform_take_affine_part;
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64 |
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65 | template<int Mode> struct transform_make_affine;
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66 |
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67 | } // end namespace internal
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68 |
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69 | /** \geometry_module \ingroup Geometry_Module
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70 | *
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71 | * \class Transform
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72 | *
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73 | * \brief Represents an homogeneous transformation in a N dimensional space
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74 | *
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75 | * \tparam _Scalar the scalar type, i.e., the type of the coefficients
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76 | * \tparam _Dim the dimension of the space
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77 | * \tparam _Mode the type of the transformation. Can be:
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78 | * - #Affine: the transformation is stored as a (Dim+1)^2 matrix,
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79 | * where the last row is assumed to be [0 ... 0 1].
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80 | * - #AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix.
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81 | * - #Projective: the transformation is stored as a (Dim+1)^2 matrix
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82 | * without any assumption.
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83 | * \tparam _Options has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor.
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84 | * These Options are passed directly to the underlying matrix type.
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85 | *
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86 | * The homography is internally represented and stored by a matrix which
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87 | * is available through the matrix() method. To understand the behavior of
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88 | * this class you have to think a Transform object as its internal
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89 | * matrix representation. The chosen convention is right multiply:
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90 | *
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91 | * \code v' = T * v \endcode
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92 | *
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93 | * Therefore, an affine transformation matrix M is shaped like this:
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94 | *
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95 | * \f$ \left( \begin{array}{cc}
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96 | * linear & translation\\
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97 | * 0 ... 0 & 1
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98 | * \end{array} \right) \f$
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99 | *
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100 | * Note that for a projective transformation the last row can be anything,
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101 | * and then the interpretation of different parts might be sightly different.
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102 | *
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103 | * However, unlike a plain matrix, the Transform class provides many features
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104 | * simplifying both its assembly and usage. In particular, it can be composed
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105 | * with any other transformations (Transform,Translation,RotationBase,DiagonalMatrix)
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106 | * and can be directly used to transform implicit homogeneous vectors. All these
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107 | * operations are handled via the operator*. For the composition of transformations,
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108 | * its principle consists to first convert the right/left hand sides of the product
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109 | * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product.
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110 | * Of course, internally, operator* tries to perform the minimal number of operations
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111 | * according to the nature of each terms. Likewise, when applying the transform
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112 | * to points, the latters are automatically promoted to homogeneous vectors
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113 | * before doing the matrix product. The conventions to homogeneous representations
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114 | * are performed as follow:
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115 | *
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116 | * \b Translation t (Dim)x(1):
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117 | * \f$ \left( \begin{array}{cc}
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118 | * I & t \\
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119 | * 0\,...\,0 & 1
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120 | * \end{array} \right) \f$
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121 | *
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122 | * \b Rotation R (Dim)x(Dim):
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123 | * \f$ \left( \begin{array}{cc}
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124 | * R & 0\\
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125 | * 0\,...\,0 & 1
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126 | * \end{array} \right) \f$
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127 | *<!--
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128 | * \b Linear \b Matrix L (Dim)x(Dim):
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129 | * \f$ \left( \begin{array}{cc}
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130 | * L & 0\\
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131 | * 0\,...\,0 & 1
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132 | * \end{array} \right) \f$
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133 | *
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134 | * \b Affine \b Matrix A (Dim)x(Dim+1):
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135 | * \f$ \left( \begin{array}{c}
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136 | * A\\
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137 | * 0\,...\,0\,1
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138 | * \end{array} \right) \f$
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139 | *-->
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140 | * \b Scaling \b DiagonalMatrix S (Dim)x(Dim):
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141 | * \f$ \left( \begin{array}{cc}
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142 | * S & 0\\
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143 | * 0\,...\,0 & 1
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144 | * \end{array} \right) \f$
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145 | *
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146 | * \b Column \b point v (Dim)x(1):
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147 | * \f$ \left( \begin{array}{c}
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148 | * v\\
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149 | * 1
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150 | * \end{array} \right) \f$
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151 | *
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152 | * \b Set \b of \b column \b points V1...Vn (Dim)x(n):
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153 | * \f$ \left( \begin{array}{ccc}
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154 | * v_1 & ... & v_n\\
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155 | * 1 & ... & 1
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156 | * \end{array} \right) \f$
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157 | *
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158 | * The concatenation of a Transform object with any kind of other transformation
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159 | * always returns a Transform object.
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160 | *
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161 | * A little exception to the "as pure matrix product" rule is the case of the
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162 | * transformation of non homogeneous vectors by an affine transformation. In
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163 | * that case the last matrix row can be ignored, and the product returns non
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164 | * homogeneous vectors.
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165 | *
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166 | * Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation,
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167 | * it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix.
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168 | * The solution is either to use a Dim x Dynamic matrix or explicitly request a
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169 | * vector transformation by making the vector homogeneous:
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170 | * \code
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171 | * m' = T * m.colwise().homogeneous();
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172 | * \endcode
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173 | * Note that there is zero overhead.
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174 | *
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175 | * Conversion methods from/to Qt's QMatrix and QTransform are available if the
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176 | * preprocessor token EIGEN_QT_SUPPORT is defined.
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177 | *
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178 | * This class can be extended with the help of the plugin mechanism described on the page
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179 | * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
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180 | *
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181 | * \sa class Matrix, class Quaternion
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182 | */
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183 | template<typename _Scalar, int _Dim, int _Mode, int _Options>
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184 | class Transform
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185 | {
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186 | public:
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187 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
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188 | enum {
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189 | Mode = _Mode,
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190 | Options = _Options,
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191 | Dim = _Dim, ///< space dimension in which the transformation holds
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192 | HDim = _Dim+1, ///< size of a respective homogeneous vector
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193 | Rows = int(Mode)==(AffineCompact) ? Dim : HDim
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194 | };
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195 | /** the scalar type of the coefficients */
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196 | typedef _Scalar Scalar;
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197 | typedef DenseIndex Index;
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198 | /** type of the matrix used to represent the transformation */
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199 | typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
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200 | /** constified MatrixType */
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201 | typedef const MatrixType ConstMatrixType;
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202 | /** type of the matrix used to represent the linear part of the transformation */
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203 | typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType;
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204 | /** type of read/write reference to the linear part of the transformation */
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205 | typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> LinearPart;
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206 | /** type of read reference to the linear part of the transformation */
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207 | typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> ConstLinearPart;
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208 | /** type of read/write reference to the affine part of the transformation */
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209 | typedef typename internal::conditional<int(Mode)==int(AffineCompact),
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210 | MatrixType&,
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211 | Block<MatrixType,Dim,HDim> >::type AffinePart;
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212 | /** type of read reference to the affine part of the transformation */
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213 | typedef typename internal::conditional<int(Mode)==int(AffineCompact),
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214 | const MatrixType&,
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215 | const Block<const MatrixType,Dim,HDim> >::type ConstAffinePart;
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216 | /** type of a vector */
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217 | typedef Matrix<Scalar,Dim,1> VectorType;
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218 | /** type of a read/write reference to the translation part of the rotation */
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219 | typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart;
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220 | /** type of a read reference to the translation part of the rotation */
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221 | typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart;
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222 | /** corresponding translation type */
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223 | typedef Translation<Scalar,Dim> TranslationType;
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224 |
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225 | // this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0
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226 | enum { TransformTimeDiagonalMode = ((Mode==int(Isometry))?Affine:int(Mode)) };
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227 | /** The return type of the product between a diagonal matrix and a transform */
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228 | typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> TransformTimeDiagonalReturnType;
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229 |
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230 | protected:
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231 |
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232 | MatrixType m_matrix;
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233 |
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234 | public:
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235 |
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236 | /** Default constructor without initialization of the meaningful coefficients.
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237 | * If Mode==Affine, then the last row is set to [0 ... 0 1] */
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238 | inline Transform()
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239 | {
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240 | check_template_params();
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241 | internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
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242 | }
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243 |
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244 | inline Transform(const Transform& other)
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245 | {
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246 | check_template_params();
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247 | m_matrix = other.m_matrix;
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248 | }
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249 |
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250 | inline explicit Transform(const TranslationType& t)
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251 | {
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252 | check_template_params();
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253 | *this = t;
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254 | }
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255 | inline explicit Transform(const UniformScaling<Scalar>& s)
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256 | {
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257 | check_template_params();
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258 | *this = s;
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259 | }
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260 | template<typename Derived>
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261 | inline explicit Transform(const RotationBase<Derived, Dim>& r)
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262 | {
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263 | check_template_params();
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264 | *this = r;
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265 | }
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266 |
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267 | inline Transform& operator=(const Transform& other)
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268 | { m_matrix = other.m_matrix; return *this; }
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269 |
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270 | typedef internal::transform_take_affine_part<Transform> take_affine_part;
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271 |
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272 | /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
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273 | template<typename OtherDerived>
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274 | inline explicit Transform(const EigenBase<OtherDerived>& other)
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275 | {
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276 | EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
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277 | YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
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278 |
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279 | check_template_params();
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280 | internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
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281 | }
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282 |
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283 | /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
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284 | template<typename OtherDerived>
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285 | inline Transform& operator=(const EigenBase<OtherDerived>& other)
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286 | {
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287 | EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
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288 | YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
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289 |
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290 | internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
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291 | return *this;
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292 | }
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293 |
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294 | template<int OtherOptions>
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295 | inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
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296 | {
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297 | check_template_params();
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298 | // only the options change, we can directly copy the matrices
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299 | m_matrix = other.matrix();
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300 | }
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301 |
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302 | template<int OtherMode,int OtherOptions>
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303 | inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
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304 | {
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305 | check_template_params();
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306 | // prevent conversions as:
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307 | // Affine | AffineCompact | Isometry = Projective
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308 | EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Projective), Mode==int(Projective)),
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309 | YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
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310 |
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311 | // prevent conversions as:
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312 | // Isometry = Affine | AffineCompact
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313 | EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
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314 | YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
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315 |
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316 | enum { ModeIsAffineCompact = Mode == int(AffineCompact),
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317 | OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
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318 | };
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319 |
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320 | if(ModeIsAffineCompact == OtherModeIsAffineCompact)
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321 | {
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322 | // We need the block expression because the code is compiled for all
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323 | // combinations of transformations and will trigger a compile time error
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324 | // if one tries to assign the matrices directly
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325 | m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
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326 | makeAffine();
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327 | }
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328 | else if(OtherModeIsAffineCompact)
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329 | {
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330 | typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
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331 | internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
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332 | }
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333 | else
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334 | {
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335 | // here we know that Mode == AffineCompact and OtherMode != AffineCompact.
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336 | // if OtherMode were Projective, the static assert above would already have caught it.
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337 | // So the only possibility is that OtherMode == Affine
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338 | linear() = other.linear();
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339 | translation() = other.translation();
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340 | }
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341 | }
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342 |
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343 | template<typename OtherDerived>
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344 | Transform(const ReturnByValue<OtherDerived>& other)
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345 | {
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346 | check_template_params();
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347 | other.evalTo(*this);
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348 | }
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349 |
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350 | template<typename OtherDerived>
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351 | Transform& operator=(const ReturnByValue<OtherDerived>& other)
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352 | {
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353 | other.evalTo(*this);
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354 | return *this;
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355 | }
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356 |
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357 | #ifdef EIGEN_QT_SUPPORT
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358 | inline Transform(const QMatrix& other);
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359 | inline Transform& operator=(const QMatrix& other);
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360 | inline QMatrix toQMatrix(void) const;
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361 | inline Transform(const QTransform& other);
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362 | inline Transform& operator=(const QTransform& other);
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363 | inline QTransform toQTransform(void) const;
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364 | #endif
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365 |
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366 | /** shortcut for m_matrix(row,col);
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367 | * \sa MatrixBase::operator(Index,Index) const */
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368 | inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
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369 | /** shortcut for m_matrix(row,col);
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370 | * \sa MatrixBase::operator(Index,Index) */
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371 | inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
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372 |
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373 | /** \returns a read-only expression of the transformation matrix */
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374 | inline const MatrixType& matrix() const { return m_matrix; }
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375 | /** \returns a writable expression of the transformation matrix */
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376 | inline MatrixType& matrix() { return m_matrix; }
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377 |
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378 | /** \returns a read-only expression of the linear part of the transformation */
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379 | inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
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380 | /** \returns a writable expression of the linear part of the transformation */
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381 | inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
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382 |
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383 | /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
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384 | inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
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385 | /** \returns a writable expression of the Dim x HDim affine part of the transformation */
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386 | inline AffinePart affine() { return take_affine_part::run(m_matrix); }
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387 |
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388 | /** \returns a read-only expression of the translation vector of the transformation */
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389 | inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
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390 | /** \returns a writable expression of the translation vector of the transformation */
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391 | inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
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392 |
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393 | /** \returns an expression of the product between the transform \c *this and a matrix expression \a other.
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394 | *
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395 | * The right-hand-side \a other can be either:
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396 | * \li an homogeneous vector of size Dim+1,
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397 | * \li a set of homogeneous vectors of size Dim+1 x N,
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398 | * \li a transformation matrix of size Dim+1 x Dim+1.
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399 | *
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400 | * Moreover, if \c *this represents an affine transformation (i.e., Mode!=Projective), then \a other can also be:
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401 | * \li a point of size Dim (computes: \code this->linear() * other + this->translation()\endcode),
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402 | * \li a set of N points as a Dim x N matrix (computes: \code (this->linear() * other).colwise() + this->translation()\endcode),
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403 | *
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404 | * In all cases, the return type is a matrix or vector of same sizes as the right-hand-side \a other.
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405 | *
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406 | * If you want to interpret \a other as a linear or affine transformation, then first convert it to a Transform<> type,
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407 | * or do your own cooking.
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408 | *
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409 | * Finally, if you want to apply Affine transformations to vectors, then explicitly apply the linear part only:
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410 | * \code
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411 | * Affine3f A;
|
---|
412 | * Vector3f v1, v2;
|
---|
413 | * v2 = A.linear() * v1;
|
---|
414 | * \endcode
|
---|
415 | *
|
---|
416 | */
|
---|
417 | // note: this function is defined here because some compilers cannot find the respective declaration
|
---|
418 | template<typename OtherDerived>
|
---|
419 | EIGEN_STRONG_INLINE const typename OtherDerived::PlainObject
|
---|
420 | operator * (const EigenBase<OtherDerived> &other) const
|
---|
421 | { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
|
---|
422 |
|
---|
423 | /** \returns the product expression of a transformation matrix \a a times a transform \a b
|
---|
424 | *
|
---|
425 | * The left hand side \a other can be either:
|
---|
426 | * \li a linear transformation matrix of size Dim x Dim,
|
---|
427 | * \li an affine transformation matrix of size Dim x Dim+1,
|
---|
428 | * \li a general transformation matrix of size Dim+1 x Dim+1.
|
---|
429 | */
|
---|
430 | template<typename OtherDerived> friend
|
---|
431 | inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
|
---|
432 | operator * (const EigenBase<OtherDerived> &a, const Transform &b)
|
---|
433 | { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
|
---|
434 |
|
---|
435 | /** \returns The product expression of a transform \a a times a diagonal matrix \a b
|
---|
436 | *
|
---|
437 | * The rhs diagonal matrix is interpreted as an affine scaling transformation. The
|
---|
438 | * product results in a Transform of the same type (mode) as the lhs only if the lhs
|
---|
439 | * mode is no isometry. In that case, the returned transform is an affinity.
|
---|
440 | */
|
---|
441 | template<typename DiagonalDerived>
|
---|
442 | inline const TransformTimeDiagonalReturnType
|
---|
443 | operator * (const DiagonalBase<DiagonalDerived> &b) const
|
---|
444 | {
|
---|
445 | TransformTimeDiagonalReturnType res(*this);
|
---|
446 | res.linear() *= b;
|
---|
447 | return res;
|
---|
448 | }
|
---|
449 |
|
---|
450 | /** \returns The product expression of a diagonal matrix \a a times a transform \a b
|
---|
451 | *
|
---|
452 | * The lhs diagonal matrix is interpreted as an affine scaling transformation. The
|
---|
453 | * product results in a Transform of the same type (mode) as the lhs only if the lhs
|
---|
454 | * mode is no isometry. In that case, the returned transform is an affinity.
|
---|
455 | */
|
---|
456 | template<typename DiagonalDerived>
|
---|
457 | friend inline TransformTimeDiagonalReturnType
|
---|
458 | operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
|
---|
459 | {
|
---|
460 | TransformTimeDiagonalReturnType res;
|
---|
461 | res.linear().noalias() = a*b.linear();
|
---|
462 | res.translation().noalias() = a*b.translation();
|
---|
463 | if (Mode!=int(AffineCompact))
|
---|
464 | res.matrix().row(Dim) = b.matrix().row(Dim);
|
---|
465 | return res;
|
---|
466 | }
|
---|
467 |
|
---|
468 | template<typename OtherDerived>
|
---|
469 | inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
|
---|
470 |
|
---|
471 | /** Concatenates two transformations */
|
---|
472 | inline const Transform operator * (const Transform& other) const
|
---|
473 | {
|
---|
474 | return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
|
---|
475 | }
|
---|
476 |
|
---|
477 | #ifdef __INTEL_COMPILER
|
---|
478 | private:
|
---|
479 | // this intermediate structure permits to workaround a bug in ICC 11:
|
---|
480 | // error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0>
|
---|
481 | // (const Eigen::Transform<double, 3, 2, 0> &) const"
|
---|
482 | // (the meaning of a name may have changed since the template declaration -- the type of the template is:
|
---|
483 | // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>,
|
---|
484 | // Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode, Options> &) const")
|
---|
485 | //
|
---|
486 | template<int OtherMode,int OtherOptions> struct icc_11_workaround
|
---|
487 | {
|
---|
488 | typedef internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> > ProductType;
|
---|
489 | typedef typename ProductType::ResultType ResultType;
|
---|
490 | };
|
---|
491 |
|
---|
492 | public:
|
---|
493 | /** Concatenates two different transformations */
|
---|
494 | template<int OtherMode,int OtherOptions>
|
---|
495 | inline typename icc_11_workaround<OtherMode,OtherOptions>::ResultType
|
---|
496 | operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
|
---|
497 | {
|
---|
498 | typedef typename icc_11_workaround<OtherMode,OtherOptions>::ProductType ProductType;
|
---|
499 | return ProductType::run(*this,other);
|
---|
500 | }
|
---|
501 | #else
|
---|
502 | /** Concatenates two different transformations */
|
---|
503 | template<int OtherMode,int OtherOptions>
|
---|
504 | inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
|
---|
505 | operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
|
---|
506 | {
|
---|
507 | return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
|
---|
508 | }
|
---|
509 | #endif
|
---|
510 |
|
---|
511 | /** \sa MatrixBase::setIdentity() */
|
---|
512 | void setIdentity() { m_matrix.setIdentity(); }
|
---|
513 |
|
---|
514 | /**
|
---|
515 | * \brief Returns an identity transformation.
|
---|
516 | * \todo In the future this function should be returning a Transform expression.
|
---|
517 | */
|
---|
518 | static const Transform Identity()
|
---|
519 | {
|
---|
520 | return Transform(MatrixType::Identity());
|
---|
521 | }
|
---|
522 |
|
---|
523 | template<typename OtherDerived>
|
---|
524 | inline Transform& scale(const MatrixBase<OtherDerived> &other);
|
---|
525 |
|
---|
526 | template<typename OtherDerived>
|
---|
527 | inline Transform& prescale(const MatrixBase<OtherDerived> &other);
|
---|
528 |
|
---|
529 | inline Transform& scale(const Scalar& s);
|
---|
530 | inline Transform& prescale(const Scalar& s);
|
---|
531 |
|
---|
532 | template<typename OtherDerived>
|
---|
533 | inline Transform& translate(const MatrixBase<OtherDerived> &other);
|
---|
534 |
|
---|
535 | template<typename OtherDerived>
|
---|
536 | inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
|
---|
537 |
|
---|
538 | template<typename RotationType>
|
---|
539 | inline Transform& rotate(const RotationType& rotation);
|
---|
540 |
|
---|
541 | template<typename RotationType>
|
---|
542 | inline Transform& prerotate(const RotationType& rotation);
|
---|
543 |
|
---|
544 | Transform& shear(const Scalar& sx, const Scalar& sy);
|
---|
545 | Transform& preshear(const Scalar& sx, const Scalar& sy);
|
---|
546 |
|
---|
547 | inline Transform& operator=(const TranslationType& t);
|
---|
548 | inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
|
---|
549 | inline Transform operator*(const TranslationType& t) const;
|
---|
550 |
|
---|
551 | inline Transform& operator=(const UniformScaling<Scalar>& t);
|
---|
552 | inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
|
---|
553 | inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode))> operator*(const UniformScaling<Scalar>& s) const
|
---|
554 | {
|
---|
555 | Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode)),Options> res = *this;
|
---|
556 | res.scale(s.factor());
|
---|
557 | return res;
|
---|
558 | }
|
---|
559 |
|
---|
560 | inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
|
---|
561 |
|
---|
562 | template<typename Derived>
|
---|
563 | inline Transform& operator=(const RotationBase<Derived,Dim>& r);
|
---|
564 | template<typename Derived>
|
---|
565 | inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
|
---|
566 | template<typename Derived>
|
---|
567 | inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
|
---|
568 |
|
---|
569 | const LinearMatrixType rotation() const;
|
---|
570 | template<typename RotationMatrixType, typename ScalingMatrixType>
|
---|
571 | void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
|
---|
572 | template<typename ScalingMatrixType, typename RotationMatrixType>
|
---|
573 | void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
|
---|
574 |
|
---|
575 | template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
|
---|
576 | Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
|
---|
577 | const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
|
---|
578 |
|
---|
579 | inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
|
---|
580 |
|
---|
581 | /** \returns a const pointer to the column major internal matrix */
|
---|
582 | const Scalar* data() const { return m_matrix.data(); }
|
---|
583 | /** \returns a non-const pointer to the column major internal matrix */
|
---|
584 | Scalar* data() { return m_matrix.data(); }
|
---|
585 |
|
---|
586 | /** \returns \c *this with scalar type casted to \a NewScalarType
|
---|
587 | *
|
---|
588 | * Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
---|
589 | * then this function smartly returns a const reference to \c *this.
|
---|
590 | */
|
---|
591 | template<typename NewScalarType>
|
---|
592 | inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
|
---|
593 | { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
|
---|
594 |
|
---|
595 | /** Copy constructor with scalar type conversion */
|
---|
596 | template<typename OtherScalarType>
|
---|
597 | inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
|
---|
598 | {
|
---|
599 | check_template_params();
|
---|
600 | m_matrix = other.matrix().template cast<Scalar>();
|
---|
601 | }
|
---|
602 |
|
---|
603 | /** \returns \c true if \c *this is approximately equal to \a other, within the precision
|
---|
604 | * determined by \a prec.
|
---|
605 | *
|
---|
606 | * \sa MatrixBase::isApprox() */
|
---|
607 | bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
|
---|
608 | { return m_matrix.isApprox(other.m_matrix, prec); }
|
---|
609 |
|
---|
610 | /** Sets the last row to [0 ... 0 1]
|
---|
611 | */
|
---|
612 | void makeAffine()
|
---|
613 | {
|
---|
614 | internal::transform_make_affine<int(Mode)>::run(m_matrix);
|
---|
615 | }
|
---|
616 |
|
---|
617 | /** \internal
|
---|
618 | * \returns the Dim x Dim linear part if the transformation is affine,
|
---|
619 | * and the HDim x Dim part for projective transformations.
|
---|
620 | */
|
---|
621 | inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
|
---|
622 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
|
---|
623 | /** \internal
|
---|
624 | * \returns the Dim x Dim linear part if the transformation is affine,
|
---|
625 | * and the HDim x Dim part for projective transformations.
|
---|
626 | */
|
---|
627 | inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
|
---|
628 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
|
---|
629 |
|
---|
630 | /** \internal
|
---|
631 | * \returns the translation part if the transformation is affine,
|
---|
632 | * and the last column for projective transformations.
|
---|
633 | */
|
---|
634 | inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
|
---|
635 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
|
---|
636 | /** \internal
|
---|
637 | * \returns the translation part if the transformation is affine,
|
---|
638 | * and the last column for projective transformations.
|
---|
639 | */
|
---|
640 | inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
|
---|
641 | { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
|
---|
642 |
|
---|
643 |
|
---|
644 | #ifdef EIGEN_TRANSFORM_PLUGIN
|
---|
645 | #include EIGEN_TRANSFORM_PLUGIN
|
---|
646 | #endif
|
---|
647 |
|
---|
648 | protected:
|
---|
649 | #ifndef EIGEN_PARSED_BY_DOXYGEN
|
---|
650 | static EIGEN_STRONG_INLINE void check_template_params()
|
---|
651 | {
|
---|
652 | EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
|
---|
653 | }
|
---|
654 | #endif
|
---|
655 |
|
---|
656 | };
|
---|
657 |
|
---|
658 | /** \ingroup Geometry_Module */
|
---|
659 | typedef Transform<float,2,Isometry> Isometry2f;
|
---|
660 | /** \ingroup Geometry_Module */
|
---|
661 | typedef Transform<float,3,Isometry> Isometry3f;
|
---|
662 | /** \ingroup Geometry_Module */
|
---|
663 | typedef Transform<double,2,Isometry> Isometry2d;
|
---|
664 | /** \ingroup Geometry_Module */
|
---|
665 | typedef Transform<double,3,Isometry> Isometry3d;
|
---|
666 |
|
---|
667 | /** \ingroup Geometry_Module */
|
---|
668 | typedef Transform<float,2,Affine> Affine2f;
|
---|
669 | /** \ingroup Geometry_Module */
|
---|
670 | typedef Transform<float,3,Affine> Affine3f;
|
---|
671 | /** \ingroup Geometry_Module */
|
---|
672 | typedef Transform<double,2,Affine> Affine2d;
|
---|
673 | /** \ingroup Geometry_Module */
|
---|
674 | typedef Transform<double,3,Affine> Affine3d;
|
---|
675 |
|
---|
676 | /** \ingroup Geometry_Module */
|
---|
677 | typedef Transform<float,2,AffineCompact> AffineCompact2f;
|
---|
678 | /** \ingroup Geometry_Module */
|
---|
679 | typedef Transform<float,3,AffineCompact> AffineCompact3f;
|
---|
680 | /** \ingroup Geometry_Module */
|
---|
681 | typedef Transform<double,2,AffineCompact> AffineCompact2d;
|
---|
682 | /** \ingroup Geometry_Module */
|
---|
683 | typedef Transform<double,3,AffineCompact> AffineCompact3d;
|
---|
684 |
|
---|
685 | /** \ingroup Geometry_Module */
|
---|
686 | typedef Transform<float,2,Projective> Projective2f;
|
---|
687 | /** \ingroup Geometry_Module */
|
---|
688 | typedef Transform<float,3,Projective> Projective3f;
|
---|
689 | /** \ingroup Geometry_Module */
|
---|
690 | typedef Transform<double,2,Projective> Projective2d;
|
---|
691 | /** \ingroup Geometry_Module */
|
---|
692 | typedef Transform<double,3,Projective> Projective3d;
|
---|
693 |
|
---|
694 | /**************************
|
---|
695 | *** Optional QT support ***
|
---|
696 | **************************/
|
---|
697 |
|
---|
698 | #ifdef EIGEN_QT_SUPPORT
|
---|
699 | /** Initializes \c *this from a QMatrix assuming the dimension is 2.
|
---|
700 | *
|
---|
701 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
702 | */
|
---|
703 | template<typename Scalar, int Dim, int Mode,int Options>
|
---|
704 | Transform<Scalar,Dim,Mode,Options>::Transform(const QMatrix& other)
|
---|
705 | {
|
---|
706 | check_template_params();
|
---|
707 | *this = other;
|
---|
708 | }
|
---|
709 |
|
---|
710 | /** Set \c *this from a QMatrix assuming the dimension is 2.
|
---|
711 | *
|
---|
712 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
713 | */
|
---|
714 | template<typename Scalar, int Dim, int Mode,int Options>
|
---|
715 | Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
|
---|
716 | {
|
---|
717 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
718 | m_matrix << other.m11(), other.m21(), other.dx(),
|
---|
719 | other.m12(), other.m22(), other.dy(),
|
---|
720 | 0, 0, 1;
|
---|
721 | return *this;
|
---|
722 | }
|
---|
723 |
|
---|
724 | /** \returns a QMatrix from \c *this assuming the dimension is 2.
|
---|
725 | *
|
---|
726 | * \warning this conversion might loss data if \c *this is not affine
|
---|
727 | *
|
---|
728 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
729 | */
|
---|
730 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
731 | QMatrix Transform<Scalar,Dim,Mode,Options>::toQMatrix(void) const
|
---|
732 | {
|
---|
733 | check_template_params();
|
---|
734 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
735 | return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
|
---|
736 | m_matrix.coeff(0,1), m_matrix.coeff(1,1),
|
---|
737 | m_matrix.coeff(0,2), m_matrix.coeff(1,2));
|
---|
738 | }
|
---|
739 |
|
---|
740 | /** Initializes \c *this from a QTransform assuming the dimension is 2.
|
---|
741 | *
|
---|
742 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
743 | */
|
---|
744 | template<typename Scalar, int Dim, int Mode,int Options>
|
---|
745 | Transform<Scalar,Dim,Mode,Options>::Transform(const QTransform& other)
|
---|
746 | {
|
---|
747 | check_template_params();
|
---|
748 | *this = other;
|
---|
749 | }
|
---|
750 |
|
---|
751 | /** Set \c *this from a QTransform assuming the dimension is 2.
|
---|
752 | *
|
---|
753 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
754 | */
|
---|
755 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
756 | Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QTransform& other)
|
---|
757 | {
|
---|
758 | check_template_params();
|
---|
759 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
760 | if (Mode == int(AffineCompact))
|
---|
761 | m_matrix << other.m11(), other.m21(), other.dx(),
|
---|
762 | other.m12(), other.m22(), other.dy();
|
---|
763 | else
|
---|
764 | m_matrix << other.m11(), other.m21(), other.dx(),
|
---|
765 | other.m12(), other.m22(), other.dy(),
|
---|
766 | other.m13(), other.m23(), other.m33();
|
---|
767 | return *this;
|
---|
768 | }
|
---|
769 |
|
---|
770 | /** \returns a QTransform from \c *this assuming the dimension is 2.
|
---|
771 | *
|
---|
772 | * This function is available only if the token EIGEN_QT_SUPPORT is defined.
|
---|
773 | */
|
---|
774 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
775 | QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
|
---|
776 | {
|
---|
777 | EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
778 | if (Mode == int(AffineCompact))
|
---|
779 | return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
|
---|
780 | m_matrix.coeff(0,1), m_matrix.coeff(1,1),
|
---|
781 | m_matrix.coeff(0,2), m_matrix.coeff(1,2));
|
---|
782 | else
|
---|
783 | return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
|
---|
784 | m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
|
---|
785 | m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
|
---|
786 | }
|
---|
787 | #endif
|
---|
788 |
|
---|
789 | /*********************
|
---|
790 | *** Procedural API ***
|
---|
791 | *********************/
|
---|
792 |
|
---|
793 | /** Applies on the right the non uniform scale transformation represented
|
---|
794 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
795 | * \sa prescale()
|
---|
796 | */
|
---|
797 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
798 | template<typename OtherDerived>
|
---|
799 | Transform<Scalar,Dim,Mode,Options>&
|
---|
800 | Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
|
---|
801 | {
|
---|
802 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
803 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
804 | linearExt().noalias() = (linearExt() * other.asDiagonal());
|
---|
805 | return *this;
|
---|
806 | }
|
---|
807 |
|
---|
808 | /** Applies on the right a uniform scale of a factor \a c to \c *this
|
---|
809 | * and returns a reference to \c *this.
|
---|
810 | * \sa prescale(Scalar)
|
---|
811 | */
|
---|
812 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
813 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
|
---|
814 | {
|
---|
815 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
816 | linearExt() *= s;
|
---|
817 | return *this;
|
---|
818 | }
|
---|
819 |
|
---|
820 | /** Applies on the left the non uniform scale transformation represented
|
---|
821 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
822 | * \sa scale()
|
---|
823 | */
|
---|
824 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
825 | template<typename OtherDerived>
|
---|
826 | Transform<Scalar,Dim,Mode,Options>&
|
---|
827 | Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
|
---|
828 | {
|
---|
829 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
830 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
831 | m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
|
---|
832 | return *this;
|
---|
833 | }
|
---|
834 |
|
---|
835 | /** Applies on the left a uniform scale of a factor \a c to \c *this
|
---|
836 | * and returns a reference to \c *this.
|
---|
837 | * \sa scale(Scalar)
|
---|
838 | */
|
---|
839 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
840 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
|
---|
841 | {
|
---|
842 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
843 | m_matrix.template topRows<Dim>() *= s;
|
---|
844 | return *this;
|
---|
845 | }
|
---|
846 |
|
---|
847 | /** Applies on the right the translation matrix represented by the vector \a other
|
---|
848 | * to \c *this and returns a reference to \c *this.
|
---|
849 | * \sa pretranslate()
|
---|
850 | */
|
---|
851 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
852 | template<typename OtherDerived>
|
---|
853 | Transform<Scalar,Dim,Mode,Options>&
|
---|
854 | Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
|
---|
855 | {
|
---|
856 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
857 | translationExt() += linearExt() * other;
|
---|
858 | return *this;
|
---|
859 | }
|
---|
860 |
|
---|
861 | /** Applies on the left the translation matrix represented by the vector \a other
|
---|
862 | * to \c *this and returns a reference to \c *this.
|
---|
863 | * \sa translate()
|
---|
864 | */
|
---|
865 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
866 | template<typename OtherDerived>
|
---|
867 | Transform<Scalar,Dim,Mode,Options>&
|
---|
868 | Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
|
---|
869 | {
|
---|
870 | EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
|
---|
871 | if(int(Mode)==int(Projective))
|
---|
872 | affine() += other * m_matrix.row(Dim);
|
---|
873 | else
|
---|
874 | translation() += other;
|
---|
875 | return *this;
|
---|
876 | }
|
---|
877 |
|
---|
878 | /** Applies on the right the rotation represented by the rotation \a rotation
|
---|
879 | * to \c *this and returns a reference to \c *this.
|
---|
880 | *
|
---|
881 | * The template parameter \a RotationType is the type of the rotation which
|
---|
882 | * must be known by internal::toRotationMatrix<>.
|
---|
883 | *
|
---|
884 | * Natively supported types includes:
|
---|
885 | * - any scalar (2D),
|
---|
886 | * - a Dim x Dim matrix expression,
|
---|
887 | * - a Quaternion (3D),
|
---|
888 | * - a AngleAxis (3D)
|
---|
889 | *
|
---|
890 | * This mechanism is easily extendable to support user types such as Euler angles,
|
---|
891 | * or a pair of Quaternion for 4D rotations.
|
---|
892 | *
|
---|
893 | * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
|
---|
894 | */
|
---|
895 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
896 | template<typename RotationType>
|
---|
897 | Transform<Scalar,Dim,Mode,Options>&
|
---|
898 | Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
|
---|
899 | {
|
---|
900 | linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
|
---|
901 | return *this;
|
---|
902 | }
|
---|
903 |
|
---|
904 | /** Applies on the left the rotation represented by the rotation \a rotation
|
---|
905 | * to \c *this and returns a reference to \c *this.
|
---|
906 | *
|
---|
907 | * See rotate() for further details.
|
---|
908 | *
|
---|
909 | * \sa rotate()
|
---|
910 | */
|
---|
911 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
912 | template<typename RotationType>
|
---|
913 | Transform<Scalar,Dim,Mode,Options>&
|
---|
914 | Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
|
---|
915 | {
|
---|
916 | m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
|
---|
917 | * m_matrix.template block<Dim,HDim>(0,0);
|
---|
918 | return *this;
|
---|
919 | }
|
---|
920 |
|
---|
921 | /** Applies on the right the shear transformation represented
|
---|
922 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
923 | * \warning 2D only.
|
---|
924 | * \sa preshear()
|
---|
925 | */
|
---|
926 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
927 | Transform<Scalar,Dim,Mode,Options>&
|
---|
928 | Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
|
---|
929 | {
|
---|
930 | EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
931 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
932 | VectorType tmp = linear().col(0)*sy + linear().col(1);
|
---|
933 | linear() << linear().col(0) + linear().col(1)*sx, tmp;
|
---|
934 | return *this;
|
---|
935 | }
|
---|
936 |
|
---|
937 | /** Applies on the left the shear transformation represented
|
---|
938 | * by the vector \a other to \c *this and returns a reference to \c *this.
|
---|
939 | * \warning 2D only.
|
---|
940 | * \sa shear()
|
---|
941 | */
|
---|
942 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
943 | Transform<Scalar,Dim,Mode,Options>&
|
---|
944 | Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
|
---|
945 | {
|
---|
946 | EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
|
---|
947 | EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
|
---|
948 | m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
|
---|
949 | return *this;
|
---|
950 | }
|
---|
951 |
|
---|
952 | /******************************************************
|
---|
953 | *** Scaling, Translation and Rotation compatibility ***
|
---|
954 | ******************************************************/
|
---|
955 |
|
---|
956 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
957 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
|
---|
958 | {
|
---|
959 | linear().setIdentity();
|
---|
960 | translation() = t.vector();
|
---|
961 | makeAffine();
|
---|
962 | return *this;
|
---|
963 | }
|
---|
964 |
|
---|
965 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
966 | inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
|
---|
967 | {
|
---|
968 | Transform res = *this;
|
---|
969 | res.translate(t.vector());
|
---|
970 | return res;
|
---|
971 | }
|
---|
972 |
|
---|
973 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
974 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
|
---|
975 | {
|
---|
976 | m_matrix.setZero();
|
---|
977 | linear().diagonal().fill(s.factor());
|
---|
978 | makeAffine();
|
---|
979 | return *this;
|
---|
980 | }
|
---|
981 |
|
---|
982 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
983 | template<typename Derived>
|
---|
984 | inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
|
---|
985 | {
|
---|
986 | linear() = internal::toRotationMatrix<Scalar,Dim>(r);
|
---|
987 | translation().setZero();
|
---|
988 | makeAffine();
|
---|
989 | return *this;
|
---|
990 | }
|
---|
991 |
|
---|
992 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
993 | template<typename Derived>
|
---|
994 | inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
|
---|
995 | {
|
---|
996 | Transform res = *this;
|
---|
997 | res.rotate(r.derived());
|
---|
998 | return res;
|
---|
999 | }
|
---|
1000 |
|
---|
1001 | /************************
|
---|
1002 | *** Special functions ***
|
---|
1003 | ************************/
|
---|
1004 |
|
---|
1005 | /** \returns the rotation part of the transformation
|
---|
1006 | *
|
---|
1007 | *
|
---|
1008 | * \svd_module
|
---|
1009 | *
|
---|
1010 | * \sa computeRotationScaling(), computeScalingRotation(), class SVD
|
---|
1011 | */
|
---|
1012 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
1013 | const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
|
---|
1014 | Transform<Scalar,Dim,Mode,Options>::rotation() const
|
---|
1015 | {
|
---|
1016 | LinearMatrixType result;
|
---|
1017 | computeRotationScaling(&result, (LinearMatrixType*)0);
|
---|
1018 | return result;
|
---|
1019 | }
|
---|
1020 |
|
---|
1021 |
|
---|
1022 | /** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
|
---|
1023 | * not necessarily positive.
|
---|
1024 | *
|
---|
1025 | * If either pointer is zero, the corresponding computation is skipped.
|
---|
1026 | *
|
---|
1027 | *
|
---|
1028 | *
|
---|
1029 | * \svd_module
|
---|
1030 | *
|
---|
1031 | * \sa computeScalingRotation(), rotation(), class SVD
|
---|
1032 | */
|
---|
1033 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
1034 | template<typename RotationMatrixType, typename ScalingMatrixType>
|
---|
1035 | void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
|
---|
1036 | {
|
---|
1037 | JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
|
---|
1038 |
|
---|
1039 | Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
|
---|
1040 | VectorType sv(svd.singularValues());
|
---|
1041 | sv.coeffRef(0) *= x;
|
---|
1042 | if(scaling) scaling->lazyAssign(svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint());
|
---|
1043 | if(rotation)
|
---|
1044 | {
|
---|
1045 | LinearMatrixType m(svd.matrixU());
|
---|
1046 | m.col(0) /= x;
|
---|
1047 | rotation->lazyAssign(m * svd.matrixV().adjoint());
|
---|
1048 | }
|
---|
1049 | }
|
---|
1050 |
|
---|
1051 | /** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
|
---|
1052 | * not necessarily positive.
|
---|
1053 | *
|
---|
1054 | * If either pointer is zero, the corresponding computation is skipped.
|
---|
1055 | *
|
---|
1056 | *
|
---|
1057 | *
|
---|
1058 | * \svd_module
|
---|
1059 | *
|
---|
1060 | * \sa computeRotationScaling(), rotation(), class SVD
|
---|
1061 | */
|
---|
1062 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
1063 | template<typename ScalingMatrixType, typename RotationMatrixType>
|
---|
1064 | void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
|
---|
1065 | {
|
---|
1066 | JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
|
---|
1067 |
|
---|
1068 | Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
|
---|
1069 | VectorType sv(svd.singularValues());
|
---|
1070 | sv.coeffRef(0) *= x;
|
---|
1071 | if(scaling) scaling->lazyAssign(svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint());
|
---|
1072 | if(rotation)
|
---|
1073 | {
|
---|
1074 | LinearMatrixType m(svd.matrixU());
|
---|
1075 | m.col(0) /= x;
|
---|
1076 | rotation->lazyAssign(m * svd.matrixV().adjoint());
|
---|
1077 | }
|
---|
1078 | }
|
---|
1079 |
|
---|
1080 | /** Convenient method to set \c *this from a position, orientation and scale
|
---|
1081 | * of a 3D object.
|
---|
1082 | */
|
---|
1083 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
1084 | template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
|
---|
1085 | Transform<Scalar,Dim,Mode,Options>&
|
---|
1086 | Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
|
---|
1087 | const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
|
---|
1088 | {
|
---|
1089 | linear() = internal::toRotationMatrix<Scalar,Dim>(orientation);
|
---|
1090 | linear() *= scale.asDiagonal();
|
---|
1091 | translation() = position;
|
---|
1092 | makeAffine();
|
---|
1093 | return *this;
|
---|
1094 | }
|
---|
1095 |
|
---|
1096 | namespace internal {
|
---|
1097 |
|
---|
1098 | template<int Mode>
|
---|
1099 | struct transform_make_affine
|
---|
1100 | {
|
---|
1101 | template<typename MatrixType>
|
---|
1102 | static void run(MatrixType &mat)
|
---|
1103 | {
|
---|
1104 | static const int Dim = MatrixType::ColsAtCompileTime-1;
|
---|
1105 | mat.template block<1,Dim>(Dim,0).setZero();
|
---|
1106 | mat.coeffRef(Dim,Dim) = typename MatrixType::Scalar(1);
|
---|
1107 | }
|
---|
1108 | };
|
---|
1109 |
|
---|
1110 | template<>
|
---|
1111 | struct transform_make_affine<AffineCompact>
|
---|
1112 | {
|
---|
1113 | template<typename MatrixType> static void run(MatrixType &) { }
|
---|
1114 | };
|
---|
1115 |
|
---|
1116 | // selector needed to avoid taking the inverse of a 3x4 matrix
|
---|
1117 | template<typename TransformType, int Mode=TransformType::Mode>
|
---|
1118 | struct projective_transform_inverse
|
---|
1119 | {
|
---|
1120 | static inline void run(const TransformType&, TransformType&)
|
---|
1121 | {}
|
---|
1122 | };
|
---|
1123 |
|
---|
1124 | template<typename TransformType>
|
---|
1125 | struct projective_transform_inverse<TransformType, Projective>
|
---|
1126 | {
|
---|
1127 | static inline void run(const TransformType& m, TransformType& res)
|
---|
1128 | {
|
---|
1129 | res.matrix() = m.matrix().inverse();
|
---|
1130 | }
|
---|
1131 | };
|
---|
1132 |
|
---|
1133 | } // end namespace internal
|
---|
1134 |
|
---|
1135 |
|
---|
1136 | /**
|
---|
1137 | *
|
---|
1138 | * \returns the inverse transformation according to some given knowledge
|
---|
1139 | * on \c *this.
|
---|
1140 | *
|
---|
1141 | * \param hint allows to optimize the inversion process when the transformation
|
---|
1142 | * is known to be not a general transformation (optional). The possible values are:
|
---|
1143 | * - #Projective if the transformation is not necessarily affine, i.e., if the
|
---|
1144 | * last row is not guaranteed to be [0 ... 0 1]
|
---|
1145 | * - #Affine if the last row can be assumed to be [0 ... 0 1]
|
---|
1146 | * - #Isometry if the transformation is only a concatenations of translations
|
---|
1147 | * and rotations.
|
---|
1148 | * The default is the template class parameter \c Mode.
|
---|
1149 | *
|
---|
1150 | * \warning unless \a traits is always set to NoShear or NoScaling, this function
|
---|
1151 | * requires the generic inverse method of MatrixBase defined in the LU module. If
|
---|
1152 | * you forget to include this module, then you will get hard to debug linking errors.
|
---|
1153 | *
|
---|
1154 | * \sa MatrixBase::inverse()
|
---|
1155 | */
|
---|
1156 | template<typename Scalar, int Dim, int Mode, int Options>
|
---|
1157 | Transform<Scalar,Dim,Mode,Options>
|
---|
1158 | Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
|
---|
1159 | {
|
---|
1160 | Transform res;
|
---|
1161 | if (hint == Projective)
|
---|
1162 | {
|
---|
1163 | internal::projective_transform_inverse<Transform>::run(*this, res);
|
---|
1164 | }
|
---|
1165 | else
|
---|
1166 | {
|
---|
1167 | if (hint == Isometry)
|
---|
1168 | {
|
---|
1169 | res.matrix().template topLeftCorner<Dim,Dim>() = linear().transpose();
|
---|
1170 | }
|
---|
1171 | else if(hint&Affine)
|
---|
1172 | {
|
---|
1173 | res.matrix().template topLeftCorner<Dim,Dim>() = linear().inverse();
|
---|
1174 | }
|
---|
1175 | else
|
---|
1176 | {
|
---|
1177 | eigen_assert(false && "Invalid transform traits in Transform::Inverse");
|
---|
1178 | }
|
---|
1179 | // translation and remaining parts
|
---|
1180 | res.matrix().template topRightCorner<Dim,1>()
|
---|
1181 | = - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
|
---|
1182 | res.makeAffine(); // we do need this, because in the beginning res is uninitialized
|
---|
1183 | }
|
---|
1184 | return res;
|
---|
1185 | }
|
---|
1186 |
|
---|
1187 | namespace internal {
|
---|
1188 |
|
---|
1189 | /*****************************************************
|
---|
1190 | *** Specializations of take affine part ***
|
---|
1191 | *****************************************************/
|
---|
1192 |
|
---|
1193 | template<typename TransformType> struct transform_take_affine_part {
|
---|
1194 | typedef typename TransformType::MatrixType MatrixType;
|
---|
1195 | typedef typename TransformType::AffinePart AffinePart;
|
---|
1196 | typedef typename TransformType::ConstAffinePart ConstAffinePart;
|
---|
1197 | static inline AffinePart run(MatrixType& m)
|
---|
1198 | { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
|
---|
1199 | static inline ConstAffinePart run(const MatrixType& m)
|
---|
1200 | { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
|
---|
1201 | };
|
---|
1202 |
|
---|
1203 | template<typename Scalar, int Dim, int Options>
|
---|
1204 | struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > {
|
---|
1205 | typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType;
|
---|
1206 | static inline MatrixType& run(MatrixType& m) { return m; }
|
---|
1207 | static inline const MatrixType& run(const MatrixType& m) { return m; }
|
---|
1208 | };
|
---|
1209 |
|
---|
1210 | /*****************************************************
|
---|
1211 | *** Specializations of construct from matrix ***
|
---|
1212 | *****************************************************/
|
---|
1213 |
|
---|
1214 | template<typename Other, int Mode, int Options, int Dim, int HDim>
|
---|
1215 | struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
|
---|
1216 | {
|
---|
1217 | static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
|
---|
1218 | {
|
---|
1219 | transform->linear() = other;
|
---|
1220 | transform->translation().setZero();
|
---|
1221 | transform->makeAffine();
|
---|
1222 | }
|
---|
1223 | };
|
---|
1224 |
|
---|
1225 | template<typename Other, int Mode, int Options, int Dim, int HDim>
|
---|
1226 | struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
|
---|
1227 | {
|
---|
1228 | static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
|
---|
1229 | {
|
---|
1230 | transform->affine() = other;
|
---|
1231 | transform->makeAffine();
|
---|
1232 | }
|
---|
1233 | };
|
---|
1234 |
|
---|
1235 | template<typename Other, int Mode, int Options, int Dim, int HDim>
|
---|
1236 | struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim>
|
---|
1237 | {
|
---|
1238 | static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
|
---|
1239 | { transform->matrix() = other; }
|
---|
1240 | };
|
---|
1241 |
|
---|
1242 | template<typename Other, int Options, int Dim, int HDim>
|
---|
1243 | struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim>
|
---|
1244 | {
|
---|
1245 | static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other)
|
---|
1246 | { transform->matrix() = other.template block<Dim,HDim>(0,0); }
|
---|
1247 | };
|
---|
1248 |
|
---|
1249 | /**********************************************************
|
---|
1250 | *** Specializations of operator* with rhs EigenBase ***
|
---|
1251 | **********************************************************/
|
---|
1252 |
|
---|
1253 | template<int LhsMode,int RhsMode>
|
---|
1254 | struct transform_product_result
|
---|
1255 | {
|
---|
1256 | enum
|
---|
1257 | {
|
---|
1258 | Mode =
|
---|
1259 | (LhsMode == (int)Projective || RhsMode == (int)Projective ) ? Projective :
|
---|
1260 | (LhsMode == (int)Affine || RhsMode == (int)Affine ) ? Affine :
|
---|
1261 | (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact ) ? AffineCompact :
|
---|
1262 | (LhsMode == (int)Isometry || RhsMode == (int)Isometry ) ? Isometry : Projective
|
---|
1263 | };
|
---|
1264 | };
|
---|
1265 |
|
---|
1266 | template< typename TransformType, typename MatrixType >
|
---|
1267 | struct transform_right_product_impl< TransformType, MatrixType, 0 >
|
---|
1268 | {
|
---|
1269 | typedef typename MatrixType::PlainObject ResultType;
|
---|
1270 |
|
---|
1271 | static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
|
---|
1272 | {
|
---|
1273 | return T.matrix() * other;
|
---|
1274 | }
|
---|
1275 | };
|
---|
1276 |
|
---|
1277 | template< typename TransformType, typename MatrixType >
|
---|
1278 | struct transform_right_product_impl< TransformType, MatrixType, 1 >
|
---|
1279 | {
|
---|
1280 | enum {
|
---|
1281 | Dim = TransformType::Dim,
|
---|
1282 | HDim = TransformType::HDim,
|
---|
1283 | OtherRows = MatrixType::RowsAtCompileTime,
|
---|
1284 | OtherCols = MatrixType::ColsAtCompileTime
|
---|
1285 | };
|
---|
1286 |
|
---|
1287 | typedef typename MatrixType::PlainObject ResultType;
|
---|
1288 |
|
---|
1289 | static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
|
---|
1290 | {
|
---|
1291 | EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
|
---|
1292 |
|
---|
1293 | typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim> TopLeftLhs;
|
---|
1294 |
|
---|
1295 | ResultType res(other.rows(),other.cols());
|
---|
1296 | TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
|
---|
1297 | res.row(OtherRows-1) = other.row(OtherRows-1);
|
---|
1298 |
|
---|
1299 | return res;
|
---|
1300 | }
|
---|
1301 | };
|
---|
1302 |
|
---|
1303 | template< typename TransformType, typename MatrixType >
|
---|
1304 | struct transform_right_product_impl< TransformType, MatrixType, 2 >
|
---|
1305 | {
|
---|
1306 | enum {
|
---|
1307 | Dim = TransformType::Dim,
|
---|
1308 | HDim = TransformType::HDim,
|
---|
1309 | OtherRows = MatrixType::RowsAtCompileTime,
|
---|
1310 | OtherCols = MatrixType::ColsAtCompileTime
|
---|
1311 | };
|
---|
1312 |
|
---|
1313 | typedef typename MatrixType::PlainObject ResultType;
|
---|
1314 |
|
---|
1315 | static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
|
---|
1316 | {
|
---|
1317 | EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
|
---|
1318 |
|
---|
1319 | typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs;
|
---|
1320 | ResultType res(Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(),1,other.cols()));
|
---|
1321 | TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other;
|
---|
1322 |
|
---|
1323 | return res;
|
---|
1324 | }
|
---|
1325 | };
|
---|
1326 |
|
---|
1327 | /**********************************************************
|
---|
1328 | *** Specializations of operator* with lhs EigenBase ***
|
---|
1329 | **********************************************************/
|
---|
1330 |
|
---|
1331 | // generic HDim x HDim matrix * T => Projective
|
---|
1332 | template<typename Other,int Mode, int Options, int Dim, int HDim>
|
---|
1333 | struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, HDim,HDim>
|
---|
1334 | {
|
---|
1335 | typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
|
---|
1336 | typedef typename TransformType::MatrixType MatrixType;
|
---|
1337 | typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
|
---|
1338 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
1339 | { return ResultType(other * tr.matrix()); }
|
---|
1340 | };
|
---|
1341 |
|
---|
1342 | // generic HDim x HDim matrix * AffineCompact => Projective
|
---|
1343 | template<typename Other, int Options, int Dim, int HDim>
|
---|
1344 | struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, HDim,HDim>
|
---|
1345 | {
|
---|
1346 | typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
|
---|
1347 | typedef typename TransformType::MatrixType MatrixType;
|
---|
1348 | typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
|
---|
1349 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
1350 | {
|
---|
1351 | ResultType res;
|
---|
1352 | res.matrix().noalias() = other.template block<HDim,Dim>(0,0) * tr.matrix();
|
---|
1353 | res.matrix().col(Dim) += other.col(Dim);
|
---|
1354 | return res;
|
---|
1355 | }
|
---|
1356 | };
|
---|
1357 |
|
---|
1358 | // affine matrix * T
|
---|
1359 | template<typename Other,int Mode, int Options, int Dim, int HDim>
|
---|
1360 | struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,HDim>
|
---|
1361 | {
|
---|
1362 | typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
|
---|
1363 | typedef typename TransformType::MatrixType MatrixType;
|
---|
1364 | typedef TransformType ResultType;
|
---|
1365 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
1366 | {
|
---|
1367 | ResultType res;
|
---|
1368 | res.affine().noalias() = other * tr.matrix();
|
---|
1369 | res.matrix().row(Dim) = tr.matrix().row(Dim);
|
---|
1370 | return res;
|
---|
1371 | }
|
---|
1372 | };
|
---|
1373 |
|
---|
1374 | // affine matrix * AffineCompact
|
---|
1375 | template<typename Other, int Options, int Dim, int HDim>
|
---|
1376 | struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, Dim,HDim>
|
---|
1377 | {
|
---|
1378 | typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
|
---|
1379 | typedef typename TransformType::MatrixType MatrixType;
|
---|
1380 | typedef TransformType ResultType;
|
---|
1381 | static ResultType run(const Other& other,const TransformType& tr)
|
---|
1382 | {
|
---|
1383 | ResultType res;
|
---|
1384 | res.matrix().noalias() = other.template block<Dim,Dim>(0,0) * tr.matrix();
|
---|
1385 | res.translation() += other.col(Dim);
|
---|
1386 | return res;
|
---|
1387 | }
|
---|
1388 | };
|
---|
1389 |
|
---|
1390 | // linear matrix * T
|
---|
1391 | template<typename Other,int Mode, int Options, int Dim, int HDim>
|
---|
1392 | struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,Dim>
|
---|
1393 | {
|
---|
1394 | typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
|
---|
1395 | typedef typename TransformType::MatrixType MatrixType;
|
---|
1396 | typedef TransformType ResultType;
|
---|
1397 | static ResultType run(const Other& other, const TransformType& tr)
|
---|
1398 | {
|
---|
1399 | TransformType res;
|
---|
1400 | if(Mode!=int(AffineCompact))
|
---|
1401 | res.matrix().row(Dim) = tr.matrix().row(Dim);
|
---|
1402 | res.matrix().template topRows<Dim>().noalias()
|
---|
1403 | = other * tr.matrix().template topRows<Dim>();
|
---|
1404 | return res;
|
---|
1405 | }
|
---|
1406 | };
|
---|
1407 |
|
---|
1408 | /**********************************************************
|
---|
1409 | *** Specializations of operator* with another Transform ***
|
---|
1410 | **********************************************************/
|
---|
1411 |
|
---|
1412 | template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
|
---|
1413 | struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,false >
|
---|
1414 | {
|
---|
1415 | enum { ResultMode = transform_product_result<LhsMode,RhsMode>::Mode };
|
---|
1416 | typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
|
---|
1417 | typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
|
---|
1418 | typedef Transform<Scalar,Dim,ResultMode,LhsOptions> ResultType;
|
---|
1419 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
1420 | {
|
---|
1421 | ResultType res;
|
---|
1422 | res.linear() = lhs.linear() * rhs.linear();
|
---|
1423 | res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
|
---|
1424 | res.makeAffine();
|
---|
1425 | return res;
|
---|
1426 | }
|
---|
1427 | };
|
---|
1428 |
|
---|
1429 | template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
|
---|
1430 | struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,true >
|
---|
1431 | {
|
---|
1432 | typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
|
---|
1433 | typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
|
---|
1434 | typedef Transform<Scalar,Dim,Projective> ResultType;
|
---|
1435 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
1436 | {
|
---|
1437 | return ResultType( lhs.matrix() * rhs.matrix() );
|
---|
1438 | }
|
---|
1439 | };
|
---|
1440 |
|
---|
1441 | template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
|
---|
1442 | struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true >
|
---|
1443 | {
|
---|
1444 | typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs;
|
---|
1445 | typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs;
|
---|
1446 | typedef Transform<Scalar,Dim,Projective> ResultType;
|
---|
1447 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
1448 | {
|
---|
1449 | ResultType res;
|
---|
1450 | res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix();
|
---|
1451 | res.matrix().row(Dim) = rhs.matrix().row(Dim);
|
---|
1452 | return res;
|
---|
1453 | }
|
---|
1454 | };
|
---|
1455 |
|
---|
1456 | template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
|
---|
1457 | struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true >
|
---|
1458 | {
|
---|
1459 | typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs;
|
---|
1460 | typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs;
|
---|
1461 | typedef Transform<Scalar,Dim,Projective> ResultType;
|
---|
1462 | static ResultType run(const Lhs& lhs, const Rhs& rhs)
|
---|
1463 | {
|
---|
1464 | ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix());
|
---|
1465 | res.matrix().col(Dim) += lhs.matrix().col(Dim);
|
---|
1466 | return res;
|
---|
1467 | }
|
---|
1468 | };
|
---|
1469 |
|
---|
1470 | } // end namespace internal
|
---|
1471 |
|
---|
1472 | } // end namespace Eigen
|
---|
1473 |
|
---|
1474 | #endif // EIGEN_TRANSFORM_H
|
---|