diff options
Diffstat (limited to 'eigen/Eigen/src/Geometry/Translation.h')
| -rw-r--r-- | eigen/Eigen/src/Geometry/Translation.h | 60 |
1 files changed, 31 insertions, 29 deletions
diff --git a/eigen/Eigen/src/Geometry/Translation.h b/eigen/Eigen/src/Geometry/Translation.h index 2e77986..51d9a82 100644 --- a/eigen/Eigen/src/Geometry/Translation.h +++ b/eigen/Eigen/src/Geometry/Translation.h @@ -18,8 +18,8 @@ namespace Eigen { * * \brief Represents a translation transformation * - * \param _Scalar the scalar type, i.e., the type of the coefficients. - * \param _Dim the dimension of the space, can be a compile time value or Dynamic + * \tparam _Scalar the scalar type, i.e., the type of the coefficients. + * \tparam _Dim the dimension of the space, can be a compile time value or Dynamic * * \note This class is not aimed to be used to store a translation transformation, * but rather to make easier the constructions and updates of Transform objects. @@ -51,16 +51,16 @@ protected: public: /** Default constructor without initialization. */ - Translation() {} + EIGEN_DEVICE_FUNC Translation() {} /** */ - inline Translation(const Scalar& sx, const Scalar& sy) + EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy) { eigen_assert(Dim==2); m_coeffs.x() = sx; m_coeffs.y() = sy; } /** */ - inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz) + EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz) { eigen_assert(Dim==3); m_coeffs.x() = sx; @@ -68,48 +68,48 @@ public: m_coeffs.z() = sz; } /** Constructs and initialize the translation transformation from a vector of translation coefficients */ - explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {} + EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {} /** \brief Retruns the x-translation by value. **/ - inline Scalar x() const { return m_coeffs.x(); } + EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); } /** \brief Retruns the y-translation by value. **/ - inline Scalar y() const { return m_coeffs.y(); } + EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); } /** \brief Retruns the z-translation by value. **/ - inline Scalar z() const { return m_coeffs.z(); } + EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); } /** \brief Retruns the x-translation as a reference. **/ - inline Scalar& x() { return m_coeffs.x(); } + EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); } /** \brief Retruns the y-translation as a reference. **/ - inline Scalar& y() { return m_coeffs.y(); } + EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); } /** \brief Retruns the z-translation as a reference. **/ - inline Scalar& z() { return m_coeffs.z(); } + EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); } - const VectorType& vector() const { return m_coeffs; } - VectorType& vector() { return m_coeffs; } + EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; } + EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; } - const VectorType& translation() const { return m_coeffs; } - VectorType& translation() { return m_coeffs; } + EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; } + EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; } /** Concatenates two translation */ - inline Translation operator* (const Translation& other) const + EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const { return Translation(m_coeffs + other.m_coeffs); } /** Concatenates a translation and a uniform scaling */ - inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const; + EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const; /** Concatenates a translation and a linear transformation */ template<typename OtherDerived> - inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const; + EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const; /** Concatenates a translation and a rotation */ template<typename Derived> - inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const + EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const { return *this * IsometryTransformType(r); } /** \returns the concatenation of a linear transformation \a l with the translation \a t */ // its a nightmare to define a templated friend function outside its declaration template<typename OtherDerived> friend - inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t) + EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t) { AffineTransformType res; res.matrix().setZero(); @@ -122,7 +122,7 @@ public: /** Concatenates a translation and a transformation */ template<int Mode, int Options> - inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const + EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const { Transform<Scalar,Dim,Mode> res = t; res.pretranslate(m_coeffs); @@ -130,8 +130,10 @@ public: } /** Applies translation to vector */ - inline VectorType operator* (const VectorType& other) const - { return m_coeffs + other; } + template<typename Derived> + inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type + operator* (const MatrixBase<Derived>& vec) const + { return m_coeffs + vec.derived(); } /** \returns the inverse translation (opposite) */ Translation inverse() const { return Translation(-m_coeffs); } @@ -150,19 +152,19 @@ public: * then this function smartly returns a const reference to \c *this. */ template<typename NewScalarType> - inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const + EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); } /** Copy constructor with scalar type conversion */ template<typename OtherScalarType> - inline explicit Translation(const Translation<OtherScalarType,Dim>& other) + EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other) { m_coeffs = other.vector().template cast<Scalar>(); } /** \returns \c true if \c *this is approximately equal to \a other, within the precision * determined by \a prec. * * \sa MatrixBase::isApprox() */ - bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const + EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const { return m_coeffs.isApprox(other.m_coeffs, prec); } }; @@ -176,7 +178,7 @@ typedef Translation<double,3> Translation3d; //@} template<typename Scalar, int Dim> -inline typename Translation<Scalar,Dim>::AffineTransformType +EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const { AffineTransformType res; @@ -189,7 +191,7 @@ Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const template<typename Scalar, int Dim> template<typename OtherDerived> -inline typename Translation<Scalar,Dim>::AffineTransformType +EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const { AffineTransformType res; 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