From 44861dcbfeee041223c4aac1ee075e92fa4daa01 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 18 Sep 2016 12:42:15 +0200 Subject: update --- eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h | 167 +++++++++++++++++++++++ 1 file changed, 167 insertions(+) create mode 100644 eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h (limited to 'eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h') diff --git a/eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h b/eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h new file mode 100644 index 0000000..b8fa6cd --- /dev/null +++ b/eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h @@ -0,0 +1,167 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2008 Gael Guennebaud +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway + +namespace Eigen { + +/** \geometry_module \ingroup Geometry_Module + * + * \class Scaling + * + * \brief Represents a possibly non uniform scaling transformation + * + * \param _Scalar the scalar type, i.e., the type of the coefficients. + * \param _Dim the dimension of the space, can be a compile time value or Dynamic + * + * \note This class is not aimed to be used to store a scaling transformation, + * but rather to make easier the constructions and updates of Transform objects. + * + * \sa class Translation, class Transform + */ +template +class Scaling +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim) + /** dimension of the space */ + enum { Dim = _Dim }; + /** the scalar type of the coefficients */ + typedef _Scalar Scalar; + /** corresponding vector type */ + typedef Matrix VectorType; + /** corresponding linear transformation matrix type */ + typedef Matrix LinearMatrixType; + /** corresponding translation type */ + typedef Translation TranslationType; + /** corresponding affine transformation type */ + typedef Transform TransformType; + +protected: + + VectorType m_coeffs; + +public: + + /** Default constructor without initialization. */ + Scaling() {} + /** Constructs and initialize a uniform scaling transformation */ + explicit inline Scaling(const Scalar& s) { m_coeffs.setConstant(s); } + /** 2D only */ + inline Scaling(const Scalar& sx, const Scalar& sy) + { + ei_assert(Dim==2); + m_coeffs.x() = sx; + m_coeffs.y() = sy; + } + /** 3D only */ + inline Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz) + { + ei_assert(Dim==3); + m_coeffs.x() = sx; + m_coeffs.y() = sy; + m_coeffs.z() = sz; + } + /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */ + explicit inline Scaling(const VectorType& coeffs) : m_coeffs(coeffs) {} + + const VectorType& coeffs() const { return m_coeffs; } + VectorType& coeffs() { return m_coeffs; } + + /** Concatenates two scaling */ + inline Scaling operator* (const Scaling& other) const + { return Scaling(coeffs().cwise() * other.coeffs()); } + + /** Concatenates a scaling and a translation */ + inline TransformType operator* (const TranslationType& t) const; + + /** Concatenates a scaling and an affine transformation */ + inline TransformType operator* (const TransformType& t) const; + + /** Concatenates a scaling and a linear transformation matrix */ + // TODO returns an expression + inline LinearMatrixType operator* (const LinearMatrixType& other) const + { return coeffs().asDiagonal() * other; } + + /** Concatenates a linear transformation matrix and a scaling */ + // TODO returns an expression + friend inline LinearMatrixType operator* (const LinearMatrixType& other, const Scaling& s) + { return other * s.coeffs().asDiagonal(); } + + template + inline LinearMatrixType operator*(const RotationBase& r) const + { return *this * r.toRotationMatrix(); } + + /** Applies scaling to vector */ + inline VectorType operator* (const VectorType& other) const + { return coeffs().asDiagonal() * other; } + + /** \returns the inverse scaling */ + inline Scaling inverse() const + { return Scaling(coeffs().cwise().inverse()); } + + inline Scaling& operator=(const Scaling& other) + { + m_coeffs = other.m_coeffs; + return *this; + } + + /** \returns \c *this with scalar type casted to \a NewScalarType + * + * Note that if \a NewScalarType is equal to the current scalar type of \c *this + * then this function smartly returns a const reference to \c *this. + */ + template + inline typename internal::cast_return_type >::type cast() const + { return typename internal::cast_return_type >::type(*this); } + + /** Copy constructor with scalar type conversion */ + template + inline explicit Scaling(const Scaling& other) + { m_coeffs = other.coeffs().template cast(); } + + /** \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 Scaling& other, typename NumTraits::Real prec = precision()) const + { return m_coeffs.isApprox(other.m_coeffs, prec); } + +}; + +/** \addtogroup Geometry_Module */ +//@{ +typedef Scaling Scaling2f; +typedef Scaling Scaling2d; +typedef Scaling Scaling3f; +typedef Scaling Scaling3d; +//@} + +template +inline typename Scaling::TransformType +Scaling::operator* (const TranslationType& t) const +{ + TransformType res; + res.matrix().setZero(); + res.linear().diagonal() = coeffs(); + res.translation() = m_coeffs.cwise() * t.vector(); + res(Dim,Dim) = Scalar(1); + return res; +} + +template +inline typename Scaling::TransformType +Scaling::operator* (const TransformType& t) const +{ + TransformType res = t; + res.prescale(m_coeffs); + return res; +} + +} // end namespace Eigen -- cgit v1.2.3