10 #ifndef EIGEN_TRANSLATION_H
11 #define EIGEN_TRANSLATION_H
29 template<
typename _Scalar,
int _Dim>
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
74 EIGEN_DEVICE_FUNC
inline Scalar x()
const {
return m_coeffs.x(); }
76 EIGEN_DEVICE_FUNC
inline Scalar y()
const {
return m_coeffs.y(); }
78 EIGEN_DEVICE_FUNC
inline Scalar z()
const {
return m_coeffs.z(); }
81 EIGEN_DEVICE_FUNC
inline Scalar&
x() {
return m_coeffs.x(); }
83 EIGEN_DEVICE_FUNC
inline Scalar&
y() {
return m_coeffs.y(); }
85 EIGEN_DEVICE_FUNC
inline Scalar&
z() {
return m_coeffs.z(); }
87 EIGEN_DEVICE_FUNC
const VectorType& vector()
const {
return m_coeffs; }
88 EIGEN_DEVICE_FUNC
VectorType& vector() {
return m_coeffs; }
90 EIGEN_DEVICE_FUNC
const VectorType& translation()
const {
return m_coeffs; }
91 EIGEN_DEVICE_FUNC
VectorType& translation() {
return m_coeffs; }
101 template<
typename OtherDerived>
105 template<
typename Derived>
111 template<
typename OtherDerived>
friend
124 template<
int Mode,
int Options>
128 res.pretranslate(m_coeffs);
133 template<
typename Derived>
134 inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
136 {
return m_coeffs + vec.
derived(); }
143 m_coeffs = other.m_coeffs;
154 template<
typename NewScalarType>
155 EIGEN_DEVICE_FUNC
inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type
cast()
const
156 {
return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*
this); }
159 template<
typename OtherScalarType>
161 { m_coeffs = other.vector().template cast<Scalar>(); }
168 {
return m_coeffs.isApprox(other.m_coeffs, prec); }
174 typedef Translation<float, 2> Translation2f;
175 typedef Translation<double,2> Translation2d;
176 typedef Translation<float, 3> Translation3f;
177 typedef Translation<double,3> Translation3d;
180 template<
typename Scalar,
int Dim>
181 EIGEN_DEVICE_FUNC
inline typename Translation<Scalar,Dim>::AffineTransformType
186 res.
linear().diagonal().fill(other.factor());
192 template<
typename Scalar,
int Dim>
193 template<
typename OtherDerived>
197 AffineTransformType res;
198 res.matrix().setZero();
199 res.linear() = linear.
derived();
200 res.translation() = m_coeffs;
201 res.matrix().row(Dim).setZero();
202 res(Dim,Dim) = Scalar(1);
208 #endif // EIGEN_TRANSLATION_H
Translation operator*(const Translation &other) const
Definition: Translation.h:94
internal::cast_return_type< Translation, Translation< NewScalarType, Dim > >::type cast() const
Definition: Translation.h:155
Transform< Scalar, Dim, Affine > AffineTransformType
Definition: Translation.h:43
Translation()
Definition: Translation.h:54
Holds information about the various numeric (i.e. scalar) types allowed by Eigen. ...
Definition: NumTraits.h:150
RowXpr row(Index i)
Definition: DenseBase.h:860
Matrix< Scalar, Dim, 1 > VectorType
Definition: Translation.h:39
Scalar & x()
Retruns the x-translation as a reference.
Definition: Translation.h:81
Derived & derived()
Definition: EigenBase.h:45
Scalar z() const
Retruns the z-translation by value.
Definition: Translation.h:78
Definition: EigenBase.h:29
Represents a translation transformation.
Definition: ForwardDeclarations.h:271
Derived & setZero(Index size)
Definition: CwiseNullaryOp.h:515
Scalar y() const
Retruns the y-translation by value.
Definition: Translation.h:76
IsometryTransformType operator*(const RotationBase< Derived, Dim > &r) const
Definition: Translation.h:106
_Scalar Scalar
Definition: Translation.h:37
Common base class for compact rotation representations.
Definition: ForwardDeclarations.h:266
Translation(const VectorType &vector)
Definition: Translation.h:71
Translation(const Translation< OtherScalarType, Dim > &other)
Definition: Translation.h:160
Scalar x() const
Retruns the x-translation by value.
Definition: Translation.h:74
Scalar & y()
Retruns the y-translation as a reference.
Definition: Translation.h:83
Translation inverse() const
Definition: Translation.h:139
Transform< Scalar, Dim, Isometry > IsometryTransformType
Definition: Translation.h:45
Matrix< Scalar, Dim, Dim > LinearMatrixType
Definition: Translation.h:41
Scalar & z()
Retruns the z-translation as a reference.
Definition: Translation.h:85
friend AffineTransformType operator*(const EigenBase< OtherDerived > &linear, const Translation &t)
Definition: Translation.h:112
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48
bool isApprox(const Translation &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: Translation.h:167