Transform.h
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00001 // This file is part of Eigen, a lightweight C++ template library
00002 // for linear algebra.
00003 //
00004 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
00005 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
00006 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
00007 //
00008 // This Source Code Form is subject to the terms of the Mozilla
00009 // Public License v. 2.0. If a copy of the MPL was not distributed
00010 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
00011 
00012 #ifndef EIGEN_TRANSFORM_H
00013 #define EIGEN_TRANSFORM_H
00014 
00015 namespace Eigen { 
00016 
00017 namespace internal {
00018 
00019 template<typename Transform>
00020 struct transform_traits
00021 {
00022   enum
00023   {
00024     Dim = Transform::Dim,
00025     HDim = Transform::HDim,
00026     Mode = Transform::Mode,
00027     IsProjective = (int(Mode)==int(Projective))
00028   };
00029 };
00030 
00031 template< typename TransformType,
00032           typename MatrixType,
00033           int Case = transform_traits<TransformType>::IsProjective ? 0
00034                    : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
00035                    : 2>
00036 struct transform_right_product_impl;
00037 
00038 template< typename Other,
00039           int Mode,
00040           int Options,
00041           int Dim,
00042           int HDim,
00043           int OtherRows=Other::RowsAtCompileTime,
00044           int OtherCols=Other::ColsAtCompileTime>
00045 struct transform_left_product_impl;
00046 
00047 template< typename Lhs,
00048           typename Rhs,
00049           bool AnyProjective = 
00050             transform_traits<Lhs>::IsProjective ||
00051             transform_traits<Rhs>::IsProjective>
00052 struct transform_transform_product_impl;
00053 
00054 template< typename Other,
00055           int Mode,
00056           int Options,
00057           int Dim,
00058           int HDim,
00059           int OtherRows=Other::RowsAtCompileTime,
00060           int OtherCols=Other::ColsAtCompileTime>
00061 struct transform_construct_from_matrix;
00062 
00063 template<typename TransformType> struct transform_take_affine_part;
00064 
00065 } // end namespace internal
00066 
00175 template<typename _Scalar, int _Dim, int _Mode, int _Options>
00176 class Transform
00177 {
00178 public:
00179   EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
00180   enum {
00181     Mode = _Mode,
00182     Options = _Options,
00183     Dim = _Dim,     
00184     HDim = _Dim+1,  
00185     Rows = int(Mode)==(AffineCompact) ? Dim : HDim
00186   };
00188   typedef _Scalar Scalar;
00189   typedef DenseIndex Index;
00191   typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
00193   typedef const MatrixType ConstMatrixType;
00195   typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType;
00197   typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact)> LinearPart;
00199   typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact)> ConstLinearPart;
00201   typedef typename internal::conditional<int(Mode)==int(AffineCompact),
00202                               MatrixType&,
00203                               Block<MatrixType,Dim,HDim> >::type AffinePart;
00205   typedef typename internal::conditional<int(Mode)==int(AffineCompact),
00206                               const MatrixType&,
00207                               const Block<const MatrixType,Dim,HDim> >::type ConstAffinePart;
00209   typedef Matrix<Scalar,Dim,1> VectorType;
00211   typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart;
00213   typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart;
00215   typedef Translation<Scalar,Dim> TranslationType;
00216   
00217   // this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0
00218   enum { TransformTimeDiagonalMode = ((Mode==int(Isometry))?Affine:int(Mode)) };
00220   typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> TransformTimeDiagonalReturnType;
00221 
00222 protected:
00223 
00224   MatrixType m_matrix;
00225 
00226 public:
00227 
00230   inline Transform()
00231   {
00232     check_template_params();
00233     if (int(Mode)==Affine)
00234       makeAffine();
00235   }
00236 
00237   inline Transform(const Transform& other)
00238   {
00239     check_template_params();
00240     m_matrix = other.m_matrix;
00241   }
00242 
00243   inline explicit Transform(const TranslationType& t)
00244   {
00245     check_template_params();
00246     *this = t;
00247   }
00248   inline explicit Transform(const UniformScaling<Scalar>& s)
00249   {
00250     check_template_params();
00251     *this = s;
00252   }
00253   template<typename Derived>
00254   inline explicit Transform(const RotationBase<Derived, Dim>& r)
00255   {
00256     check_template_params();
00257     *this = r;
00258   }
00259 
00260   inline Transform& operator=(const Transform& other)
00261   { m_matrix = other.m_matrix; return *this; }
00262 
00263   typedef internal::transform_take_affine_part<Transform> take_affine_part;
00264 
00266   template<typename OtherDerived>
00267   inline explicit Transform(const EigenBase<OtherDerived>& other)
00268   {
00269     EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
00270       YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
00271 
00272     check_template_params();
00273     internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
00274   }
00275 
00277   template<typename OtherDerived>
00278   inline Transform& operator=(const EigenBase<OtherDerived>& other)
00279   {
00280     EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
00281       YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
00282 
00283     internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
00284     return *this;
00285   }
00286   
00287   template<int OtherOptions>
00288   inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
00289   {
00290     check_template_params();
00291     // only the options change, we can directly copy the matrices
00292     m_matrix = other.matrix();
00293   }
00294 
00295   template<int OtherMode,int OtherOptions>
00296   inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
00297   {
00298     check_template_params();
00299     // prevent conversions as:
00300     // Affine | AffineCompact | Isometry = Projective
00301     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Projective), Mode==int(Projective)),
00302                         YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
00303 
00304     // prevent conversions as:
00305     // Isometry = Affine | AffineCompact
00306     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
00307                         YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)
00308 
00309     enum { ModeIsAffineCompact = Mode == int(AffineCompact),
00310            OtherModeIsAffineCompact = OtherMode == int(AffineCompact)
00311     };
00312 
00313     if(ModeIsAffineCompact == OtherModeIsAffineCompact)
00314     {
00315       // We need the block expression because the code is compiled for all
00316       // combinations of transformations and will trigger a compile time error
00317       // if one tries to assign the matrices directly
00318       m_matrix.template block<Dim,Dim+1>(0,0) = other.matrix().template block<Dim,Dim+1>(0,0);
00319       makeAffine();
00320     }
00321     else if(OtherModeIsAffineCompact)
00322     {
00323       typedef typename Transform<Scalar,Dim,OtherMode,OtherOptions>::MatrixType OtherMatrixType;
00324       internal::transform_construct_from_matrix<OtherMatrixType,Mode,Options,Dim,HDim>::run(this, other.matrix());
00325     }
00326     else
00327     {
00328       // here we know that Mode == AffineCompact and OtherMode != AffineCompact.
00329       // if OtherMode were Projective, the static assert above would already have caught it.
00330       // So the only possibility is that OtherMode == Affine
00331       linear() = other.linear();
00332       translation() = other.translation();
00333     }
00334   }
00335 
00336   template<typename OtherDerived>
00337   Transform(const ReturnByValue<OtherDerived>& other)
00338   {
00339     check_template_params();
00340     other.evalTo(*this);
00341   }
00342 
00343   template<typename OtherDerived>
00344   Transform& operator=(const ReturnByValue<OtherDerived>& other)
00345   {
00346     other.evalTo(*this);
00347     return *this;
00348   }
00349 
00350   #ifdef EIGEN_QT_SUPPORT
00351   inline Transform(const QMatrix& other);
00352   inline Transform& operator=(const QMatrix& other);
00353   inline QMatrix toQMatrix(void) const;
00354   inline Transform(const QTransform& other);
00355   inline Transform& operator=(const QTransform& other);
00356   inline QTransform toQTransform(void) const;
00357   #endif
00358 
00361   inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
00364   inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
00365 
00367   inline const MatrixType& matrix() const { return m_matrix; }
00369   inline MatrixType& matrix() { return m_matrix; }
00370 
00372   inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
00374   inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
00375 
00377   inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
00379   inline AffinePart affine() { return take_affine_part::run(m_matrix); }
00380 
00382   inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
00384   inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
00385 
00397   // note: this function is defined here because some compilers cannot find the respective declaration
00398   template<typename OtherDerived>
00399   EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
00400   operator * (const EigenBase<OtherDerived> &other) const
00401   { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
00402 
00410   template<typename OtherDerived> friend
00411   inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
00412     operator * (const EigenBase<OtherDerived> &a, const Transform &b)
00413   { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
00414 
00421   template<typename DiagonalDerived>
00422   inline const TransformTimeDiagonalReturnType
00423     operator * (const DiagonalBase<DiagonalDerived> &b) const
00424   {
00425     TransformTimeDiagonalReturnType res(*this);
00426     res.linear() *= b;
00427     return res;
00428   }
00429 
00436   template<typename DiagonalDerived>
00437   friend inline TransformTimeDiagonalReturnType
00438     operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
00439   {
00440     TransformTimeDiagonalReturnType res;
00441     res.linear().noalias() = a*b.linear();
00442     res.translation().noalias() = a*b.translation();
00443     if (Mode!=int(AffineCompact))
00444       res.matrix().row(Dim) = b.matrix().row(Dim);
00445     return res;
00446   }
00447 
00448   template<typename OtherDerived>
00449   inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
00450 
00452   inline const Transform operator * (const Transform& other) const
00453   {
00454     return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
00455   }
00456   
00457   #ifdef __INTEL_COMPILER
00458 private:
00459   // this intermediate structure permits to workaround a bug in ICC 11:
00460   //   error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0>
00461   //             (const Eigen::Transform<double, 3, 2, 0> &) const"
00462   //  (the meaning of a name may have changed since the template declaration -- the type of the template is:
00463   // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>,
00464   //     Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode, Options> &) const")
00465   // 
00466   template<int OtherMode,int OtherOptions> struct icc_11_workaround
00467   {
00468     typedef internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> > ProductType;
00469     typedef typename ProductType::ResultType ResultType;
00470   };
00471   
00472 public:
00474   template<int OtherMode,int OtherOptions>
00475   inline typename icc_11_workaround<OtherMode,OtherOptions>::ResultType
00476     operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
00477   {
00478     typedef typename icc_11_workaround<OtherMode,OtherOptions>::ProductType ProductType;
00479     return ProductType::run(*this,other);
00480   }
00481   #else
00482 
00483   template<int OtherMode,int OtherOptions>
00484   inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
00485     operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
00486   {
00487     return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
00488   }
00489   #endif
00490 
00492   void setIdentity() { m_matrix.setIdentity(); }
00493 
00498   static const Transform Identity()
00499   {
00500     return Transform(MatrixType::Identity());
00501   }
00502 
00503   template<typename OtherDerived>
00504   inline Transform& scale(const MatrixBase<OtherDerived> &other);
00505 
00506   template<typename OtherDerived>
00507   inline Transform& prescale(const MatrixBase<OtherDerived> &other);
00508 
00509   inline Transform& scale(const Scalar& s);
00510   inline Transform& prescale(const Scalar& s);
00511 
00512   template<typename OtherDerived>
00513   inline Transform& translate(const MatrixBase<OtherDerived> &other);
00514 
00515   template<typename OtherDerived>
00516   inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
00517 
00518   template<typename RotationType>
00519   inline Transform& rotate(const RotationType& rotation);
00520 
00521   template<typename RotationType>
00522   inline Transform& prerotate(const RotationType& rotation);
00523 
00524   Transform& shear(const Scalar& sx, const Scalar& sy);
00525   Transform& preshear(const Scalar& sx, const Scalar& sy);
00526 
00527   inline Transform& operator=(const TranslationType& t);
00528   inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
00529   inline Transform operator*(const TranslationType& t) const;
00530 
00531   inline Transform& operator=(const UniformScaling<Scalar>& t);
00532   inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
00533   inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry)> operator*(const UniformScaling<Scalar>& s) const
00534   {
00535     Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry),Options> res = *this;
00536     res.scale(s.factor());
00537     return res;
00538   }
00539 
00540   inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
00541 
00542   template<typename Derived>
00543   inline Transform& operator=(const RotationBase<Derived,Dim>& r);
00544   template<typename Derived>
00545   inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
00546   template<typename Derived>
00547   inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
00548 
00549   const LinearMatrixType rotation() const;
00550   template<typename RotationMatrixType, typename ScalingMatrixType>
00551   void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
00552   template<typename ScalingMatrixType, typename RotationMatrixType>
00553   void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
00554 
00555   template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
00556   Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
00557     const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
00558 
00559   inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
00560 
00562   const Scalar* data() const { return m_matrix.data(); }
00564   Scalar* data() { return m_matrix.data(); }
00565 
00571   template<typename NewScalarType>
00572   inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
00573   { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
00574 
00576   template<typename OtherScalarType>
00577   inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
00578   {
00579     check_template_params();
00580     m_matrix = other.matrix().template cast<Scalar>();
00581   }
00582 
00587   bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
00588   { return m_matrix.isApprox(other.m_matrix, prec); }
00589 
00592   void makeAffine()
00593   {
00594     if(int(Mode)!=int(AffineCompact))
00595     {
00596       matrix().template block<1,Dim>(Dim,0).setZero();
00597       matrix().coeffRef(Dim,Dim) = Scalar(1);
00598     }
00599   }
00600 
00605   inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
00606   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
00611   inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
00612   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
00613 
00618   inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
00619   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
00624   inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
00625   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
00626 
00627 
00628   #ifdef EIGEN_TRANSFORM_PLUGIN
00629   #include EIGEN_TRANSFORM_PLUGIN
00630   #endif
00631   
00632 protected:
00633   #ifndef EIGEN_PARSED_BY_DOXYGEN
00634     static EIGEN_STRONG_INLINE void check_template_params()
00635     {
00636       EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
00637     }
00638   #endif
00639 
00640 };
00641 
00643 typedef Transform<float,2,Isometry> Isometry2f;
00645 typedef Transform<float,3,Isometry> Isometry3f;
00647 typedef Transform<double,2,Isometry> Isometry2d;
00649 typedef Transform<double,3,Isometry> Isometry3d;
00650 
00652 typedef Transform<float,2,Affine> Affine2f;
00654 typedef Transform<float,3,Affine> Affine3f;
00656 typedef Transform<double,2,Affine> Affine2d;
00658 typedef Transform<double,3,Affine> Affine3d;
00659 
00661 typedef Transform<float,2,AffineCompact> AffineCompact2f;
00663 typedef Transform<float,3,AffineCompact> AffineCompact3f;
00665 typedef Transform<double,2,AffineCompact> AffineCompact2d;
00667 typedef Transform<double,3,AffineCompact> AffineCompact3d;
00668 
00670 typedef Transform<float,2,Projective> Projective2f;
00672 typedef Transform<float,3,Projective> Projective3f;
00674 typedef Transform<double,2,Projective> Projective2d;
00676 typedef Transform<double,3,Projective> Projective3d;
00677 
00678 /**************************
00679 *** Optional QT support ***
00680 **************************/
00681 
00682 #ifdef EIGEN_QT_SUPPORT
00683 
00687 template<typename Scalar, int Dim, int Mode,int Options>
00688 Transform<Scalar,Dim,Mode,Options>::Transform(const QMatrix& other)
00689 {
00690   check_template_params();
00691   *this = other;
00692 }
00693 
00698 template<typename Scalar, int Dim, int Mode,int Options>
00699 Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
00700 {
00701   EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
00702   m_matrix << other.m11(), other.m21(), other.dx(),
00703               other.m12(), other.m22(), other.dy(),
00704               0, 0, 1;
00705   return *this;
00706 }
00707 
00714 template<typename Scalar, int Dim, int Mode, int Options>
00715 QMatrix Transform<Scalar,Dim,Mode,Options>::toQMatrix(void) const
00716 {
00717   check_template_params();
00718   EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
00719   return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
00720                  m_matrix.coeff(0,1), m_matrix.coeff(1,1),
00721                  m_matrix.coeff(0,2), m_matrix.coeff(1,2));
00722 }
00723 
00728 template<typename Scalar, int Dim, int Mode,int Options>
00729 Transform<Scalar,Dim,Mode,Options>::Transform(const QTransform& other)
00730 {
00731   check_template_params();
00732   *this = other;
00733 }
00734 
00739 template<typename Scalar, int Dim, int Mode, int Options>
00740 Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QTransform& other)
00741 {
00742   check_template_params();
00743   EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
00744   if (Mode == int(AffineCompact))
00745     m_matrix << other.m11(), other.m21(), other.dx(),
00746                 other.m12(), other.m22(), other.dy();
00747   else
00748     m_matrix << other.m11(), other.m21(), other.dx(),
00749                 other.m12(), other.m22(), other.dy(),
00750                 other.m13(), other.m23(), other.m33();
00751   return *this;
00752 }
00753 
00758 template<typename Scalar, int Dim, int Mode, int Options>
00759 QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
00760 {
00761   EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
00762   if (Mode == int(AffineCompact))
00763     return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
00764                       m_matrix.coeff(0,1), m_matrix.coeff(1,1),
00765                       m_matrix.coeff(0,2), m_matrix.coeff(1,2));
00766   else
00767     return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
00768                       m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
00769                       m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
00770 }
00771 #endif
00772 
00773 /*********************
00774 *** Procedural API ***
00775 *********************/
00776 
00781 template<typename Scalar, int Dim, int Mode, int Options>
00782 template<typename OtherDerived>
00783 Transform<Scalar,Dim,Mode,Options>&
00784 Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
00785 {
00786   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
00787   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
00788   linearExt().noalias() = (linearExt() * other.asDiagonal());
00789   return *this;
00790 }
00791 
00796 template<typename Scalar, int Dim, int Mode, int Options>
00797 inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
00798 {
00799   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
00800   linearExt() *= s;
00801   return *this;
00802 }
00803 
00808 template<typename Scalar, int Dim, int Mode, int Options>
00809 template<typename OtherDerived>
00810 Transform<Scalar,Dim,Mode,Options>&
00811 Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
00812 {
00813   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
00814   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
00815   m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
00816   return *this;
00817 }
00818 
00823 template<typename Scalar, int Dim, int Mode, int Options>
00824 inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
00825 {
00826   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
00827   m_matrix.template topRows<Dim>() *= s;
00828   return *this;
00829 }
00830 
00835 template<typename Scalar, int Dim, int Mode, int Options>
00836 template<typename OtherDerived>
00837 Transform<Scalar,Dim,Mode,Options>&
00838 Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
00839 {
00840   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
00841   translationExt() += linearExt() * other;
00842   return *this;
00843 }
00844 
00849 template<typename Scalar, int Dim, int Mode, int Options>
00850 template<typename OtherDerived>
00851 Transform<Scalar,Dim,Mode,Options>&
00852 Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
00853 {
00854   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
00855   if(int(Mode)==int(Projective))
00856     affine() += other * m_matrix.row(Dim);
00857   else
00858     translation() += other;
00859   return *this;
00860 }
00861 
00879 template<typename Scalar, int Dim, int Mode, int Options>
00880 template<typename RotationType>
00881 Transform<Scalar,Dim,Mode,Options>&
00882 Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
00883 {
00884   linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
00885   return *this;
00886 }
00887 
00895 template<typename Scalar, int Dim, int Mode, int Options>
00896 template<typename RotationType>
00897 Transform<Scalar,Dim,Mode,Options>&
00898 Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
00899 {
00900   m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
00901                                          * m_matrix.template block<Dim,HDim>(0,0);
00902   return *this;
00903 }
00904 
00910 template<typename Scalar, int Dim, int Mode, int Options>
00911 Transform<Scalar,Dim,Mode,Options>&
00912 Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
00913 {
00914   EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
00915   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
00916   VectorType tmp = linear().col(0)*sy + linear().col(1);
00917   linear() << linear().col(0) + linear().col(1)*sx, tmp;
00918   return *this;
00919 }
00920 
00926 template<typename Scalar, int Dim, int Mode, int Options>
00927 Transform<Scalar,Dim,Mode,Options>&
00928 Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
00929 {
00930   EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
00931   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
00932   m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
00933   return *this;
00934 }
00935 
00936 /******************************************************
00937 *** Scaling, Translation and Rotation compatibility ***
00938 ******************************************************/
00939 
00940 template<typename Scalar, int Dim, int Mode, int Options>
00941 inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
00942 {
00943   linear().setIdentity();
00944   translation() = t.vector();
00945   makeAffine();
00946   return *this;
00947 }
00948 
00949 template<typename Scalar, int Dim, int Mode, int Options>
00950 inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
00951 {
00952   Transform res = *this;
00953   res.translate(t.vector());
00954   return res;
00955 }
00956 
00957 template<typename Scalar, int Dim, int Mode, int Options>
00958 inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
00959 {
00960   m_matrix.setZero();
00961   linear().diagonal().fill(s.factor());
00962   makeAffine();
00963   return *this;
00964 }
00965 
00966 template<typename Scalar, int Dim, int Mode, int Options>
00967 template<typename Derived>
00968 inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
00969 {
00970   linear() = internal::toRotationMatrix<Scalar,Dim>(r);
00971   translation().setZero();
00972   makeAffine();
00973   return *this;
00974 }
00975 
00976 template<typename Scalar, int Dim, int Mode, int Options>
00977 template<typename Derived>
00978 inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
00979 {
00980   Transform res = *this;
00981   res.rotate(r.derived());
00982   return res;
00983 }
00984 
00985 /************************
00986 *** Special functions ***
00987 ************************/
00988 
00996 template<typename Scalar, int Dim, int Mode, int Options>
00997 const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
00998 Transform<Scalar,Dim,Mode,Options>::rotation() const
00999 {
01000   LinearMatrixType result;
01001   computeRotationScaling(&result, (LinearMatrixType*)0);
01002   return result;
01003 }
01004 
01005 
01017 template<typename Scalar, int Dim, int Mode, int Options>
01018 template<typename RotationMatrixType, typename ScalingMatrixType>
01019 void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
01020 {
01021   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
01022 
01023   Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
01024   VectorType sv(svd.singularValues());
01025   sv.coeffRef(0) *= x;
01026   if(scaling) scaling->lazyAssign(svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint());
01027   if(rotation)
01028   {
01029     LinearMatrixType m(svd.matrixU());
01030     m.col(0) /= x;
01031     rotation->lazyAssign(m * svd.matrixV().adjoint());
01032   }
01033 }
01034 
01046 template<typename Scalar, int Dim, int Mode, int Options>
01047 template<typename ScalingMatrixType, typename RotationMatrixType>
01048 void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
01049 {
01050   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
01051 
01052   Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
01053   VectorType sv(svd.singularValues());
01054   sv.coeffRef(0) *= x;
01055   if(scaling) scaling->lazyAssign(svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint());
01056   if(rotation)
01057   {
01058     LinearMatrixType m(svd.matrixU());
01059     m.col(0) /= x;
01060     rotation->lazyAssign(m * svd.matrixV().adjoint());
01061   }
01062 }
01063 
01067 template<typename Scalar, int Dim, int Mode, int Options>
01068 template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
01069 Transform<Scalar,Dim,Mode,Options>&
01070 Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
01071   const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
01072 {
01073   linear() = internal::toRotationMatrix<Scalar,Dim>(orientation);
01074   linear() *= scale.asDiagonal();
01075   translation() = position;
01076   makeAffine();
01077   return *this;
01078 }
01079 
01080 namespace internal {
01081 
01082 // selector needed to avoid taking the inverse of a 3x4 matrix
01083 template<typename TransformType, int Mode=TransformType::Mode>
01084 struct projective_transform_inverse
01085 {
01086   static inline void run(const TransformType&, TransformType&)
01087   {}
01088 };
01089 
01090 template<typename TransformType>
01091 struct projective_transform_inverse<TransformType, Projective>
01092 {
01093   static inline void run(const TransformType& m, TransformType& res)
01094   {
01095     res.matrix() = m.matrix().inverse();
01096   }
01097 };
01098 
01099 } // end namespace internal
01100 
01101 
01122 template<typename Scalar, int Dim, int Mode, int Options>
01123 Transform<Scalar,Dim,Mode,Options>
01124 Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
01125 {
01126   Transform res;
01127   if (hint == Projective)
01128   {
01129     internal::projective_transform_inverse<Transform>::run(*this, res);
01130   }
01131   else
01132   {
01133     if (hint == Isometry)
01134     {
01135       res.matrix().template topLeftCorner<Dim,Dim>() = linear().transpose();
01136     }
01137     else if(hint&Affine)
01138     {
01139       res.matrix().template topLeftCorner<Dim,Dim>() = linear().inverse();
01140     }
01141     else
01142     {
01143       eigen_assert(false && "Invalid transform traits in Transform::Inverse");
01144     }
01145     // translation and remaining parts
01146     res.matrix().template topRightCorner<Dim,1>()
01147       = - res.matrix().template topLeftCorner<Dim,Dim>() * translation();
01148     res.makeAffine(); // we do need this, because in the beginning res is uninitialized
01149   }
01150   return res;
01151 }
01152 
01153 namespace internal {
01154 
01155 /*****************************************************
01156 *** Specializations of take affine part            ***
01157 *****************************************************/
01158 
01159 template<typename TransformType> struct transform_take_affine_part {
01160   typedef typename TransformType::MatrixType MatrixType;
01161   typedef typename TransformType::AffinePart AffinePart;
01162   typedef typename TransformType::ConstAffinePart ConstAffinePart;
01163   static inline AffinePart run(MatrixType& m)
01164   { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
01165   static inline ConstAffinePart run(const MatrixType& m)
01166   { return m.template block<TransformType::Dim,TransformType::HDim>(0,0); }
01167 };
01168 
01169 template<typename Scalar, int Dim, int Options>
01170 struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact, Options> > {
01171   typedef typename Transform<Scalar,Dim,AffineCompact,Options>::MatrixType MatrixType;
01172   static inline MatrixType& run(MatrixType& m) { return m; }
01173   static inline const MatrixType& run(const MatrixType& m) { return m; }
01174 };
01175 
01176 /*****************************************************
01177 *** Specializations of construct from matrix       ***
01178 *****************************************************/
01179 
01180 template<typename Other, int Mode, int Options, int Dim, int HDim>
01181 struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,Dim>
01182 {
01183   static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
01184   {
01185     transform->linear() = other;
01186     transform->translation().setZero();
01187     transform->makeAffine();
01188   }
01189 };
01190 
01191 template<typename Other, int Mode, int Options, int Dim, int HDim>
01192 struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, Dim,HDim>
01193 {
01194   static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
01195   {
01196     transform->affine() = other;
01197     transform->makeAffine();
01198   }
01199 };
01200 
01201 template<typename Other, int Mode, int Options, int Dim, int HDim>
01202 struct transform_construct_from_matrix<Other, Mode,Options,Dim,HDim, HDim,HDim>
01203 {
01204   static inline void run(Transform<typename Other::Scalar,Dim,Mode,Options> *transform, const Other& other)
01205   { transform->matrix() = other; }
01206 };
01207 
01208 template<typename Other, int Options, int Dim, int HDim>
01209 struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HDim,HDim>
01210 {
01211   static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact,Options> *transform, const Other& other)
01212   { transform->matrix() = other.template block<Dim,HDim>(0,0); }
01213 };
01214 
01215 /**********************************************************
01216 ***   Specializations of operator* with rhs EigenBase   ***
01217 **********************************************************/
01218 
01219 template<int LhsMode,int RhsMode>
01220 struct transform_product_result
01221 {
01222   enum 
01223   { 
01224     Mode =
01225       (LhsMode == (int)Projective    || RhsMode == (int)Projective    ) ? Projective :
01226       (LhsMode == (int)Affine        || RhsMode == (int)Affine        ) ? Affine :
01227       (LhsMode == (int)AffineCompact || RhsMode == (int)AffineCompact ) ? AffineCompact :
01228       (LhsMode == (int)Isometry      || RhsMode == (int)Isometry      ) ? Isometry : Projective
01229   };
01230 };
01231 
01232 template< typename TransformType, typename MatrixType >
01233 struct transform_right_product_impl< TransformType, MatrixType, 0 >
01234 {
01235   typedef typename MatrixType::PlainObject ResultType;
01236 
01237   static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
01238   {
01239     return T.matrix() * other;
01240   }
01241 };
01242 
01243 template< typename TransformType, typename MatrixType >
01244 struct transform_right_product_impl< TransformType, MatrixType, 1 >
01245 {
01246   enum { 
01247     Dim = TransformType::Dim, 
01248     HDim = TransformType::HDim,
01249     OtherRows = MatrixType::RowsAtCompileTime,
01250     OtherCols = MatrixType::ColsAtCompileTime
01251   };
01252 
01253   typedef typename MatrixType::PlainObject ResultType;
01254 
01255   static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
01256   {
01257     EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
01258 
01259     typedef Block<ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim> TopLeftLhs;
01260 
01261     ResultType res(other.rows(),other.cols());
01262     TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;
01263     res.row(OtherRows-1) = other.row(OtherRows-1);
01264     
01265     return res;
01266   }
01267 };
01268 
01269 template< typename TransformType, typename MatrixType >
01270 struct transform_right_product_impl< TransformType, MatrixType, 2 >
01271 {
01272   enum { 
01273     Dim = TransformType::Dim, 
01274     HDim = TransformType::HDim,
01275     OtherRows = MatrixType::RowsAtCompileTime,
01276     OtherCols = MatrixType::ColsAtCompileTime
01277   };
01278 
01279   typedef typename MatrixType::PlainObject ResultType;
01280 
01281   static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
01282   {
01283     EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
01284 
01285     typedef Block<ResultType, Dim, OtherCols, true> TopLeftLhs;
01286     ResultType res(Replicate<typename TransformType::ConstTranslationPart, 1, OtherCols>(T.translation(),1,other.cols()));
01287     TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other;
01288 
01289     return res;
01290   }
01291 };
01292 
01293 /**********************************************************
01294 ***   Specializations of operator* with lhs EigenBase   ***
01295 **********************************************************/
01296 
01297 // generic HDim x HDim matrix * T => Projective
01298 template<typename Other,int Mode, int Options, int Dim, int HDim>
01299 struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, HDim,HDim>
01300 {
01301   typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
01302   typedef typename TransformType::MatrixType MatrixType;
01303   typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
01304   static ResultType run(const Other& other,const TransformType& tr)
01305   { return ResultType(other * tr.matrix()); }
01306 };
01307 
01308 // generic HDim x HDim matrix * AffineCompact => Projective
01309 template<typename Other, int Options, int Dim, int HDim>
01310 struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, HDim,HDim>
01311 {
01312   typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
01313   typedef typename TransformType::MatrixType MatrixType;
01314   typedef Transform<typename Other::Scalar,Dim,Projective,Options> ResultType;
01315   static ResultType run(const Other& other,const TransformType& tr)
01316   {
01317     ResultType res;
01318     res.matrix().noalias() = other.template block<HDim,Dim>(0,0) * tr.matrix();
01319     res.matrix().col(Dim) += other.col(Dim);
01320     return res;
01321   }
01322 };
01323 
01324 // affine matrix * T
01325 template<typename Other,int Mode, int Options, int Dim, int HDim>
01326 struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,HDim>
01327 {
01328   typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
01329   typedef typename TransformType::MatrixType MatrixType;
01330   typedef TransformType ResultType;
01331   static ResultType run(const Other& other,const TransformType& tr)
01332   {
01333     ResultType res;
01334     res.affine().noalias() = other * tr.matrix();
01335     res.matrix().row(Dim) = tr.matrix().row(Dim);
01336     return res;
01337   }
01338 };
01339 
01340 // affine matrix * AffineCompact
01341 template<typename Other, int Options, int Dim, int HDim>
01342 struct transform_left_product_impl<Other,AffineCompact,Options,Dim,HDim, Dim,HDim>
01343 {
01344   typedef Transform<typename Other::Scalar,Dim,AffineCompact,Options> TransformType;
01345   typedef typename TransformType::MatrixType MatrixType;
01346   typedef TransformType ResultType;
01347   static ResultType run(const Other& other,const TransformType& tr)
01348   {
01349     ResultType res;
01350     res.matrix().noalias() = other.template block<Dim,Dim>(0,0) * tr.matrix();
01351     res.translation() += other.col(Dim);
01352     return res;
01353   }
01354 };
01355 
01356 // linear matrix * T
01357 template<typename Other,int Mode, int Options, int Dim, int HDim>
01358 struct transform_left_product_impl<Other,Mode,Options,Dim,HDim, Dim,Dim>
01359 {
01360   typedef Transform<typename Other::Scalar,Dim,Mode,Options> TransformType;
01361   typedef typename TransformType::MatrixType MatrixType;
01362   typedef TransformType ResultType;
01363   static ResultType run(const Other& other, const TransformType& tr)
01364   {
01365     TransformType res;
01366     if(Mode!=int(AffineCompact))
01367       res.matrix().row(Dim) = tr.matrix().row(Dim);
01368     res.matrix().template topRows<Dim>().noalias()
01369       = other * tr.matrix().template topRows<Dim>();
01370     return res;
01371   }
01372 };
01373 
01374 /**********************************************************
01375 *** Specializations of operator* with another Transform ***
01376 **********************************************************/
01377 
01378 template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
01379 struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,false >
01380 {
01381   enum { ResultMode = transform_product_result<LhsMode,RhsMode>::Mode };
01382   typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
01383   typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
01384   typedef Transform<Scalar,Dim,ResultMode,LhsOptions> ResultType;
01385   static ResultType run(const Lhs& lhs, const Rhs& rhs)
01386   {
01387     ResultType res;
01388     res.linear() = lhs.linear() * rhs.linear();
01389     res.translation() = lhs.linear() * rhs.translation() + lhs.translation();
01390     res.makeAffine();
01391     return res;
01392   }
01393 };
01394 
01395 template<typename Scalar, int Dim, int LhsMode, int LhsOptions, int RhsMode, int RhsOptions>
01396 struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode,LhsOptions>,Transform<Scalar,Dim,RhsMode,RhsOptions>,true >
01397 {
01398   typedef Transform<Scalar,Dim,LhsMode,LhsOptions> Lhs;
01399   typedef Transform<Scalar,Dim,RhsMode,RhsOptions> Rhs;
01400   typedef Transform<Scalar,Dim,Projective> ResultType;
01401   static ResultType run(const Lhs& lhs, const Rhs& rhs)
01402   {
01403     return ResultType( lhs.matrix() * rhs.matrix() );
01404   }
01405 };
01406 
01407 template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
01408 struct transform_transform_product_impl<Transform<Scalar,Dim,AffineCompact,LhsOptions>,Transform<Scalar,Dim,Projective,RhsOptions>,true >
01409 {
01410   typedef Transform<Scalar,Dim,AffineCompact,LhsOptions> Lhs;
01411   typedef Transform<Scalar,Dim,Projective,RhsOptions> Rhs;
01412   typedef Transform<Scalar,Dim,Projective> ResultType;
01413   static ResultType run(const Lhs& lhs, const Rhs& rhs)
01414   {
01415     ResultType res;
01416     res.matrix().template topRows<Dim>() = lhs.matrix() * rhs.matrix();
01417     res.matrix().row(Dim) = rhs.matrix().row(Dim);
01418     return res;
01419   }
01420 };
01421 
01422 template<typename Scalar, int Dim, int LhsOptions, int RhsOptions>
01423 struct transform_transform_product_impl<Transform<Scalar,Dim,Projective,LhsOptions>,Transform<Scalar,Dim,AffineCompact,RhsOptions>,true >
01424 {
01425   typedef Transform<Scalar,Dim,Projective,LhsOptions> Lhs;
01426   typedef Transform<Scalar,Dim,AffineCompact,RhsOptions> Rhs;
01427   typedef Transform<Scalar,Dim,Projective> ResultType;
01428   static ResultType run(const Lhs& lhs, const Rhs& rhs)
01429   {
01430     ResultType res(lhs.matrix().template leftCols<Dim>() * rhs.matrix());
01431     res.matrix().col(Dim) += lhs.matrix().col(Dim);
01432     return res;
01433   }
01434 };
01435 
01436 } // end namespace internal
01437 
01438 } // end namespace Eigen
01439 
01440 #endif // EIGEN_TRANSFORM_H


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:58