1 files changed, 32 insertions, 0 deletions
diff --git a/cv/affine.cpp b/cv/affine.cpp
new file mode 100644
index 00000000..9018e107
--- /dev/null
+++ b/cv/affine.cpp
@@ -0,0 +1,32 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#include "affine.hpp"
+
+Affine::Affine() : R(mat33::eye()), t(0,0,0) {}
+
+Affine::Affine(const mat33& R, const vec3& t) : R(R),t(t) {}
+
+Affine operator*(const Affine& X, const Affine& Y)
+{
+    return Affine(X.R*Y.R, X.R*Y.t + X.t);
+}
+
+Affine operator*(const mat33& X, const Affine& Y)
+{
+    return Affine(X*Y.R, X*Y.t);
+}
+
+Affine operator*(const Affine& X, const mat33& Y)
+{
+    return Affine(X.R*Y, X.t);
+}
+
+vec3 operator*(const Affine& X, const vec3& v)
+{
+    return X.R*v + X.t;
+}