Represents an homogeneous transformation in a N dimensional space. More...

#include <Transform.h>

Classes
struct	construct_from_matrix
struct	construct_from_matrix< OtherDerived, true >
Public Types
enum	{ TransformTimeDiagonalMode = ((Mode==int(Isometry))?Affine:int(Mode)) }
typedef internal::conditional < int(Mode)==int(AffineCompact), MatrixType &, Block < MatrixType, Dim, HDim > >::type	AffinePart
typedef internal::conditional < int(Mode)==int(AffineCompact), const MatrixType &, const Block< const MatrixType, Dim, HDim > >::type	ConstAffinePart
typedef const Block< const MatrixType, Dim, Dim >	ConstLinearPart
typedef const Block < ConstMatrixType, Dim, Dim >	ConstLinearPart
typedef const MatrixType	ConstMatrixType
typedef const Block< const MatrixType, Dim, 1 >	ConstTranslationPart
typedef const Block < ConstMatrixType, Dim, 1 >	ConstTranslationPart
typedef DenseIndex	Index
typedef Matrix< Scalar, Dim, Dim >	LinearMatrixType
typedef Matrix< Scalar, Dim, Dim, Options >	LinearMatrixType
typedef Block< MatrixType, Dim, Dim >	LinearPart
typedef Block< MatrixType, Dim, Dim >	LinearPart
typedef Matrix< Scalar, HDim, HDim >	MatrixType
typedef internal::make_proper_matrix_type < Scalar, Rows, HDim, Options > ::type	MatrixType
typedef _Scalar	Scalar
typedef _Scalar	Scalar
typedef Scaling< Scalar, Dim >	ScalingType
typedef internal::transform_take_affine_part < Transform >	take_affine_part
typedef Transform< Scalar, Dim, TransformTimeDiagonalMode >	TransformTimeDiagonalReturnType
typedef Block< MatrixType, Dim, 1 >	TranslationPart
typedef Block< MatrixType, Dim, 1 >	TranslationPart
typedef Translation< Scalar, Dim >	TranslationType
typedef Translation< Scalar, Dim >	TranslationType
typedef Matrix< Scalar, Dim, 1 >	VectorType
typedef Matrix< Scalar, Dim, 1 >	VectorType
Public Member Functions
ConstAffinePart	affine () const
AffinePart	affine ()
template<typename NewScalarType >
internal::cast_return_type < Transform, Transform < NewScalarType, Dim > >::type	cast () const
template<typename NewScalarType >
internal::cast_return_type < Transform, Transform < NewScalarType, Dim, Mode, Options > >::type	cast () const
template<typename RotationMatrixType , typename ScalingMatrixType >
void	computeRotationScaling (RotationMatrixType rotation, ScalingMatrixType scaling) const
template<typename RotationMatrixType , typename ScalingMatrixType >
void	computeRotationScaling (RotationMatrixType rotation, ScalingMatrixType scaling) const
template<typename ScalingMatrixType , typename RotationMatrixType >
void	computeScalingRotation (ScalingMatrixType scaling, RotationMatrixType rotation) const
template<typename ScalingMatrixType , typename RotationMatrixType >
void	computeScalingRotation (ScalingMatrixType scaling, RotationMatrixType rotation) const
const Scalar *	data () const
Scalar *	data ()
const Scalar *	data () const
Scalar *	data ()
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE (_Scalar, _Dim==Dynamic?Dynamic:(_Dim+1)*(_Dim+1)) enum
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE (_Scalar, _Dim==Dynamic?Dynamic:(_Dim+1)*(_Dim+1)) enum
template<typename PositionDerived , typename OrientationType , typename ScaleDerived >
Transform &	fromPositionOrientationScale (const MatrixBase< PositionDerived > &position, const OrientationType &orientation, const MatrixBase< ScaleDerived > &scale)
template<typename PositionDerived , typename OrientationType , typename ScaleDerived >
Transform &	fromPositionOrientationScale (const MatrixBase< PositionDerived > &position, const OrientationType &orientation, const MatrixBase< ScaleDerived > &scale)
const MatrixType	inverse (TransformTraits traits=Affine) const
Transform	inverse (TransformTraits traits=(TransformTraits) Mode) const
bool	isApprox (const Transform &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const
bool	isApprox (const Transform &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const
ConstLinearPart	linear () const
LinearPart	linear ()
ConstLinearPart	linear () const
LinearPart	linear ()
Block< MatrixType, int(Mode)==int(Projective)?HDim:Dim, Dim >	linearExt ()
const Block< MatrixType, int(Mode)==int(Projective)?HDim:Dim, Dim >	linearExt () const
void	makeAffine ()
const MatrixType &	matrix () const
MatrixType &	matrix ()
const MatrixType &	matrix () const
MatrixType &	matrix ()
Scalar	operator() (int row, int col) const
Scalar &	operator() (int row, int col)
Scalar	operator() (Index row, Index col) const
Scalar &	operator() (Index row, Index col)
template<typename OtherDerived >
const ei_transform_product_impl < OtherDerived, _Dim, _Dim+1 > ::ResultType	operator* (const MatrixBase< OtherDerived > &other) const
const Transform	operator* (const Transform &other) const
Transform	operator* (const TranslationType &t) const
Transform	operator* (const ScalingType &s) const
template<typename Derived >
Transform	operator* (const RotationBase< Derived, Dim > &r) const
template<typename OtherDerived >
EIGEN_STRONG_INLINE const internal::transform_right_product_impl < Transform, OtherDerived > ::ResultType	operator* (const EigenBase< OtherDerived > &other) const
template<typename DiagonalDerived >
const TransformTimeDiagonalReturnType	operator* (const DiagonalBase< DiagonalDerived > &b) const
const Transform	operator* (const Transform &other) const
template<int OtherMode, int OtherOptions>
const internal::transform_transform_product_impl < Transform, Transform< Scalar, Dim, OtherMode, OtherOptions > >::ResultType	operator* (const Transform< Scalar, Dim, OtherMode, OtherOptions > &other) const
Transform	operator* (const TranslationType &t) const
Transform	operator* (const UniformScaling< Scalar > &s) const
template<typename Derived >
Transform	operator* (const RotationBase< Derived, Dim > &r) const
Transform &	operator*= (const TranslationType &t)
Transform &	operator*= (const ScalingType &s)
template<typename Derived >
Transform &	operator*= (const RotationBase< Derived, Dim > &r)
template<typename OtherDerived >
Transform &	operator*= (const EigenBase< OtherDerived > &other)
Transform &	operator*= (const TranslationType &t)
Transform &	operator*= (const UniformScaling< Scalar > &s)
Transform &	operator*= (const DiagonalMatrix< Scalar, Dim > &s)
template<typename Derived >
Transform &	operator*= (const RotationBase< Derived, Dim > &r)
Transform &	operator= (const Transform &other)
template<typename OtherDerived >
Transform &	operator= (const MatrixBase< OtherDerived > &other)
Transform &	operator= (const TranslationType &t)
Transform &	operator= (const ScalingType &t)
template<typename Derived >
Transform &	operator= (const RotationBase< Derived, Dim > &r)
Transform &	operator= (const Transform &other)
template<typename OtherDerived >
Transform &	operator= (const EigenBase< OtherDerived > &other)
template<typename OtherDerived >
Transform &	operator= (const ReturnByValue< OtherDerived > &other)
Transform &	operator= (const TranslationType &t)
Transform &	operator= (const UniformScaling< Scalar > &t)
template<typename Derived >
Transform &	operator= (const RotationBase< Derived, Dim > &r)
template<typename RotationType >
Transform &	prerotate (const RotationType &rotation)
template<typename RotationType >
Transform &	prerotate (const RotationType &rotation)
template<typename OtherDerived >
Transform &	prescale (const MatrixBase< OtherDerived > &other)
Transform &	prescale (Scalar s)
template<typename OtherDerived >
Transform &	prescale (const MatrixBase< OtherDerived > &other)
Transform &	prescale (Scalar s)
Transform &	preshear (Scalar sx, Scalar sy)
Transform &	preshear (Scalar sx, Scalar sy)
template<typename OtherDerived >
Transform &	pretranslate (const MatrixBase< OtherDerived > &other)
template<typename OtherDerived >
Transform &	pretranslate (const MatrixBase< OtherDerived > &other)
template<typename RotationType >
Transform &	rotate (const RotationType &rotation)
template<typename RotationType >
Transform &	rotate (const RotationType &rotation)
LinearMatrixType	rotation () const
const LinearMatrixType	rotation () const
template<typename OtherDerived >
Transform &	scale (const MatrixBase< OtherDerived > &other)
Transform &	scale (Scalar s)
template<typename OtherDerived >
Transform &	scale (const MatrixBase< OtherDerived > &other)
Transform &	scale (Scalar s)
void	setIdentity ()
void	setIdentity ()
Transform &	shear (Scalar sx, Scalar sy)
Transform &	shear (Scalar sx, Scalar sy)
	Transform ()
	Transform (const Transform &other)
	Transform (const TranslationType &t)
	Transform (const ScalingType &s)
template<typename Derived >
	Transform (const RotationBase< Derived, Dim > &r)
template<typename OtherDerived >
	Transform (const MatrixBase< OtherDerived > &other)
	Transform ()
	Transform (const Transform &other)
	Transform (const TranslationType &t)
	Transform (const UniformScaling< Scalar > &s)
template<typename Derived >
	Transform (const RotationBase< Derived, Dim > &r)
template<typename OtherScalarType >
	Transform (const Transform< OtherScalarType, Dim > &other)
template<typename OtherDerived >
	Transform (const EigenBase< OtherDerived > &other)
template<int OtherOptions>
	Transform (const Transform< Scalar, Dim, Mode, OtherOptions > &other)
template<int OtherMode, int OtherOptions>
	Transform (const Transform< Scalar, Dim, OtherMode, OtherOptions > &other)
template<typename OtherDerived >
	Transform (const ReturnByValue< OtherDerived > &other)
template<typename OtherScalarType >
	Transform (const Transform< OtherScalarType, Dim, Mode, Options > &other)
template<typename OtherDerived >
Transform &	translate (const MatrixBase< OtherDerived > &other)
template<typename OtherDerived >
Transform &	translate (const MatrixBase< OtherDerived > &other)
ConstTranslationPart	translation () const
TranslationPart	translation ()
ConstTranslationPart	translation () const
TranslationPart	translation ()
Block< MatrixType, int(Mode)==int(Projective)?HDim:Dim, 1 >	translationExt ()
const Block< MatrixType, int(Mode)==int(Projective)?HDim:Dim, 1 >	translationExt () const
Static Public Member Functions
static const MatrixType::IdentityReturnType	Identity ()
static const Transform	Identity ()
	Returns an identity transformation.
Static Protected Member Functions
static EIGEN_STRONG_INLINE void	check_template_params ()
Protected Attributes
MatrixType	m_matrix
Friends
template<typename OtherDerived >
const ProductReturnType < OtherDerived, MatrixType > ::Type	operator* (const MatrixBase< OtherDerived > &a, const Transform &b)
Transform	operator* (const LinearMatrixType &mat, const Transform &t)
template<typename OtherDerived >
const internal::transform_left_product_impl < OtherDerived, Mode, Options, _Dim, _Dim+1 >::ResultType	operator* (const EigenBase< OtherDerived > &a, const Transform &b)
template<typename DiagonalDerived >
TransformTimeDiagonalReturnType	operator* (const DiagonalBase< DiagonalDerived > &a, const Transform &b)

Detailed Description

template<typename _Scalar, int _Dim>
class Transform< _Scalar, _Dim >

Represents an homogeneous transformation in a N dimensional space.

Parameters:

_Scalar	the scalar type, i.e., the type of the coefficients
_Dim	the dimension of the space

The homography is internally represented and stored as a (Dim+1)^2 matrix which is available through the matrix() method.

Conversion methods from/to Qt's QMatrix and QTransform are available if the preprocessor token EIGEN_QT_SUPPORT is defined.

See also:: class Matrix, class Quaternion

Template Parameters:

_Scalar	the scalar type, i.e., the type of the coefficients
_Dim	the dimension of the space
_Mode	the type of the transformation. Can be: Affine: the transformation is stored as a (Dim+1)^2 matrix, where the last row is assumed to be [0 ... 0 1]. AffineCompact: the transformation is stored as a (Dim)x(Dim+1) matrix. Projective: the transformation is stored as a (Dim+1)^2 matrix without any assumption.
_Options	has the same meaning as in class Matrix. It allows to specify DontAlign and/or RowMajor. These Options are passed directly to the underlying matrix type.

The homography is internally represented and stored by a matrix which is available through the matrix() method. To understand the behavior of this class you have to think a Transform object as its internal matrix representation. The chosen convention is right multiply:

 v' = T * v

Therefore, an affine transformation matrix M is shaped like this:

$\left( \begin{array}{cc} linear & translation\\ 0 ... 0 & 1 \end{array} \right)$

Note that for a projective transformation the last row can be anything, and then the interpretation of different parts might be sightly different.

However, unlike a plain matrix, the Transform class provides many features simplifying both its assembly and usage. In particular, it can be composed with any other transformations (Transform,Translation,RotationBase,Matrix) and can be directly used to transform implicit homogeneous vectors. All these operations are handled via the operator*. For the composition of transformations, its principle consists to first convert the right/left hand sides of the product to a compatible (Dim+1)^2 matrix and then perform a pure matrix product. Of course, internally, operator* tries to perform the minimal number of operations according to the nature of each terms. Likewise, when applying the transform to non homogeneous vectors, the latters are automatically promoted to homogeneous one before doing the matrix product. The convertions to homogeneous representations are performed as follow:

Translation t (Dim)x(1): $\left( \begin{array}{cc} I & t \\ 0\,...\,0 & 1 \end{array} \right)$

Rotation R (Dim)x(Dim): $\left( \begin{array}{cc} R & 0\\ 0\,...\,0 & 1 \end{array} \right)$

Linear Matrix L (Dim)x(Dim): $\left( \begin{array}{cc} L & 0\\ 0\,...\,0 & 1 \end{array} \right)$

Affine Matrix A (Dim)x(Dim+1): $\left( \begin{array}{c} A\\ 0\,...\,0\,1 \end{array} \right)$

Column vector v (Dim)x(1): $\left( \begin{array}{c} v\\ 1 \end{array} \right)$

Set of column vectors V1...Vn (Dim)x(n): $\left( \begin{array}{ccc} v_1 & ... & v_n\\ 1 & ... & 1 \end{array} \right)$

The concatenation of a Transform object with any kind of other transformation always returns a Transform object.

A little exception to the "as pure matrix product" rule is the case of the transformation of non homogeneous vectors by an affine transformation. In that case the last matrix row can be ignored, and the product returns non homogeneous vectors.

Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation, it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix. The solution is either to use a Dim x Dynamic matrix or explicitly request a vector transformation by making the vector homogeneous:

 m' = T * m.colwise().homogeneous();

Note that there is zero overhead.

Conversion methods from/to Qt's QMatrix and QTransform are available if the preprocessor token EIGEN_QT_SUPPORT is defined.

This class can be extended with the help of the plugin mechanism described on the page Customizing/Extending Eigen by defining the preprocessor symbol EIGEN_TRANSFORM_PLUGIN.

See also:: class Matrix, class Quaternion

Definition at line 57 of file Eigen2Support/Geometry/Transform.h.

Member Typedef Documentation

template<typename _Scalar, int _Dim>

typedef internal::conditional<int(Mode)==int(AffineCompact), MatrixType&, Block<MatrixType,Dim,HDim> >::type Transform< _Scalar, _Dim >::AffinePart

type of read/write reference to the affine part of the transformation

Definition at line 216 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef internal::conditional<int(Mode)==int(AffineCompact), const MatrixType&, const Block<const MatrixType,Dim,HDim> >::type Transform< _Scalar, _Dim >::ConstAffinePart

type of read reference to the affine part of the transformation

Definition at line 220 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef const Block<const MatrixType,Dim,Dim> Transform< _Scalar, _Dim >::ConstLinearPart

type of read/write reference to the linear part of the transformation

Definition at line 74 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef const Block<ConstMatrixType,Dim,Dim> Transform< _Scalar, _Dim >::ConstLinearPart

type of read reference to the linear part of the transformation

Definition at line 212 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef const MatrixType Transform< _Scalar, _Dim >::ConstMatrixType

constified MatrixType

Definition at line 206 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef const Block<const MatrixType,Dim,1> Transform< _Scalar, _Dim >::ConstTranslationPart

type of a read/write reference to the translation part of the rotation

Definition at line 80 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef const Block<ConstMatrixType,Dim,1> Transform< _Scalar, _Dim >::ConstTranslationPart

type of a read reference to the translation part of the rotation

Definition at line 226 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef DenseIndex Transform< _Scalar, _Dim >::Index

Definition at line 202 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,Dim> Transform< _Scalar, _Dim >::LinearMatrixType

type of the matrix used to represent the linear part of the transformation

Definition at line 70 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,Dim,Options> Transform< _Scalar, _Dim >::LinearMatrixType

type of the matrix used to represent the linear part of the transformation

Definition at line 208 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,Dim> Transform< _Scalar, _Dim >::LinearPart

type of read/write reference to the linear part of the transformation

Definition at line 72 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,Dim> Transform< _Scalar, _Dim >::LinearPart

type of read/write reference to the linear part of the transformation

Definition at line 210 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,HDim,HDim> Transform< _Scalar, _Dim >::MatrixType

type of the matrix used to represent the transformation

Definition at line 68 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type Transform< _Scalar, _Dim >::MatrixType

type of the matrix used to represent the transformation

Definition at line 204 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef _Scalar Transform< _Scalar, _Dim >::Scalar

the scalar type of the coefficients

Definition at line 64 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef _Scalar Transform< _Scalar, _Dim >::Scalar

the scalar type of the coefficients

Definition at line 199 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Scaling<Scalar,Dim> Transform< _Scalar, _Dim >::ScalingType

corresponding scaling transformation type

Definition at line 84 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef internal::transform_take_affine_part<Transform> Transform< _Scalar, _Dim >::take_affine_part

Definition at line 276 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> Transform< _Scalar, _Dim >::TransformTimeDiagonalReturnType

The return type of the product between a diagonal matrix and a transform

Definition at line 233 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,1> Transform< _Scalar, _Dim >::TranslationPart

type of a read/write reference to the translation part of the rotation

Definition at line 78 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,1> Transform< _Scalar, _Dim >::TranslationPart

type of a read/write reference to the translation part of the rotation

Definition at line 224 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Translation<Scalar,Dim> Transform< _Scalar, _Dim >::TranslationType

corresponding translation type

Definition at line 82 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Translation<Scalar,Dim> Transform< _Scalar, _Dim >::TranslationType

corresponding translation type

Definition at line 228 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,1> Transform< _Scalar, _Dim >::VectorType

type of a vector

Definition at line 76 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,1> Transform< _Scalar, _Dim >::VectorType

type of a vector

Definition at line 222 of file Geometry/Transform.h.

Member Enumeration Documentation

template<typename _Scalar, int _Dim>

anonymous enum

Enumerator:

TransformTimeDiagonalMode

Definition at line 231 of file Geometry/Transform.h.

Constructor & Destructor Documentation

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( ) [inline]

Default constructor without initialization of the coefficients.

Definition at line 93 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const Transform< _Scalar, _Dim > & other ) [inline]

Definition at line 95 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const TranslationType & t ) [inline, explicit]

Definition at line 100 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const ScalingType & s ) [inline, explicit]

Definition at line 101 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform< _Scalar, _Dim >::Transform ( const RotationBase< Derived, Dim > & r ) [inline, explicit]

Definition at line 103 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform< _Scalar, _Dim >::Transform ( const MatrixBase< OtherDerived > & other ) [inline, explicit]

Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix.

Definition at line 130 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherScalarType >

Transform< _Scalar, _Dim >::Transform ( const Transform< OtherScalarType, Dim > & other ) [inline, explicit]

Copy constructor with scalar type conversion

Definition at line 277 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( ) [inline]

Default constructor without initialization of the meaningful coefficients. If Mode==Affine, then the last row is set to [0 ... 0 1]

Definition at line 243 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const Transform< _Scalar, _Dim > & other ) [inline]

Definition at line 250 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const TranslationType & t ) [inline, explicit]

Definition at line 256 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const UniformScaling< Scalar > & s ) [inline, explicit]

Definition at line 261 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform< _Scalar, _Dim >::Transform ( const RotationBase< Derived, Dim > & r ) [inline, explicit]

Definition at line 267 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform< _Scalar, _Dim >::Transform ( const EigenBase< OtherDerived > & other ) [inline, explicit]

Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix.

Definition at line 280 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<int OtherOptions>

Transform< _Scalar, _Dim >::Transform ( const Transform< Scalar, Dim, Mode, OtherOptions > & other ) [inline]

Definition at line 295 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<int OtherMode, int OtherOptions>

Transform< _Scalar, _Dim >::Transform ( const Transform< Scalar, Dim, OtherMode, OtherOptions > & other ) [inline]

Definition at line 303 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform< _Scalar, _Dim >::Transform ( const ReturnByValue< OtherDerived > & other ) [inline]

Definition at line 344 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherScalarType >

Transform< _Scalar, _Dim >::Transform ( const Transform< OtherScalarType, Dim, Mode, Options > & other ) [inline, explicit]

Copy constructor with scalar type conversion

Definition at line 554 of file Geometry/Transform.h.

Member Function Documentation

template<typename _Scalar, int _Dim>

ConstAffinePart Transform< _Scalar, _Dim >::affine ( ) const [inline]

Returns:: a read-only expression of the Dim x HDim affine part of the transformation

Definition at line 384 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

AffinePart Transform< _Scalar, _Dim >::affine ( ) [inline]

Returns:: a writable expression of the Dim x HDim affine part of the transformation

Definition at line 386 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename NewScalarType >

internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type Transform< _Scalar, _Dim >::cast ( ) const [inline]

Returns:: *this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

Definition at line 272 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename NewScalarType >

internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type Transform< _Scalar, _Dim >::cast ( ) const [inline]

Returns:: *this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

Definition at line 549 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

static EIGEN_STRONG_INLINE void Transform< _Scalar, _Dim >::check_template_params ( ) [inline, static, protected]

Definition at line 611 of file Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

template<typename RotationMatrixType , typename ScalingMatrixType >

void Transform< Scalar, Dim, Mode, Options >::computeRotationScaling	(	RotationMatrixType *	rotation,
		ScalingMatrixType *	scaling
	)		const

decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive.

If either pointer is zero, the corresponding computation is skipped.

See also:: computeScalingRotation(), rotation(), class SVD

decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive.

If either pointer is zero, the corresponding computation is skipped.

See also:: computeScalingRotation(), rotation(), class SVD

Definition at line 633 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename RotationMatrixType , typename ScalingMatrixType >

void Transform< _Scalar, _Dim >::computeRotationScaling	(	RotationMatrixType *	rotation,
		ScalingMatrixType *	scaling
	)		const

template<typename Scalar , int Dim, int Mode, int Options>

template<typename ScalingMatrixType , typename RotationMatrixType >

void Transform< Scalar, Dim, Mode, Options >::computeScalingRotation	(	ScalingMatrixType *	scaling,
		RotationMatrixType *	rotation
	)		const

decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive.

If either pointer is zero, the corresponding computation is skipped.

See also:: computeRotationScaling(), rotation(), class SVD

decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive.

If either pointer is zero, the corresponding computation is skipped.

See also:: computeRotationScaling(), rotation(), class SVD

Definition at line 664 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename ScalingMatrixType , typename RotationMatrixType >

void Transform< _Scalar, _Dim >::computeScalingRotation	(	ScalingMatrixType *	scaling,
		RotationMatrixType *	rotation
	)		const

template<typename _Scalar, int _Dim>

const Scalar* Transform< _Scalar, _Dim >::data ( ) const [inline]

Returns:: a const pointer to the column major internal matrix

Definition at line 262 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Scalar* Transform< _Scalar, _Dim >::data ( ) [inline]

Returns:: a non-const pointer to the column major internal matrix

Definition at line 264 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const Scalar* Transform< _Scalar, _Dim >::data ( ) const [inline]

Returns:: a const pointer to the column major internal matrix

Definition at line 539 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Scalar* Transform< _Scalar, _Dim >::data ( ) [inline]

Returns:: a non-const pointer to the column major internal matrix

Definition at line 541 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE	(	_Scalar	,
		_Dim	= `=Dynamic ? Dynamic : (_Dim+1)*(_Dim+1)`
	)		`[inline]`

< space dimension in which the transformation holds

< size of a respective homogeneous vector

Definition at line 60 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE	(	_Scalar	,
		_Dim	= `=Dynamic ? Dynamic : (_Dim+1)*(_Dim+1)`
	)		`[inline]`

< space dimension in which the transformation holds

< size of a respective homogeneous vector

Definition at line 192 of file Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

template<typename PositionDerived , typename OrientationType , typename ScaleDerived >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::fromPositionOrientationScale	(	const MatrixBase< PositionDerived > &	position,
		const OrientationType &	orientation,
		const MatrixBase< ScaleDerived > &	scale
	)

Convenient method to set *this from a position, orientation and scale of a 3D object.

Definition at line 688 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename PositionDerived , typename OrientationType , typename ScaleDerived >

Transform& Transform< _Scalar, _Dim >::fromPositionOrientationScale	(	const MatrixBase< PositionDerived > &	position,
		const OrientationType &	orientation,
		const MatrixBase< ScaleDerived > &	scale
	)

template<typename _Scalar, int _Dim>

static const MatrixType::IdentityReturnType Transform< _Scalar, _Dim >::Identity ( ) [inline, static]

Definition at line 198 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

static const Transform Transform< _Scalar, _Dim >::Identity ( ) [inline, static]

Returns an identity transformation.

Todo:: In the future this function should be returning a Transform expression.

Definition at line 480 of file Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > Transform< Scalar, Dim, Mode, Options >::inverse ( TransformTraits hint = Affine ) const [inline]

Returns:: the inverse transformation matrix according to some given knowledge on *this.

Parameters:

traits

allows to optimize the inversion process when the transformion is known to be not a general transformation. The possible values are:

Projective if the transformation is not necessarily affine, i.e., if the last row is not guaranteed to be [0 ... 0 1]
Affine is the default, the last row is assumed to be [0 ... 0 1]
Isometry if the transformation is only a concatenations of translations and rotations.

Warning:: unless traits is always set to NoShear or NoScaling, this function requires the generic inverse method of MatrixBase defined in the LU module. If you forget to include this module, then you will get hard to debug linking errors.

See also:: MatrixBase::inverse()

Returns:: the inverse transformation according to some given knowledge on *this.

Parameters:

hint

allows to optimize the inversion process when the transformation is known to be not a general transformation (optional). The possible values are:

Projective if the transformation is not necessarily affine, i.e., if the last row is not guaranteed to be [0 ... 0 1]
Affine if the last row can be assumed to be [0 ... 0 1]
Isometry if the transformation is only a concatenations of translations and rotations. The default is the template class parameter Mode.

Warning:: unless traits is always set to NoShear or NoScaling, this function requires the generic inverse method of MatrixBase defined in the LU module. If you forget to include this module, then you will get hard to debug linking errors.

See also:: MatrixBase::inverse()

Definition at line 720 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform Transform< _Scalar, _Dim >::inverse ( TransformTraits traits = (TransformTraits) Mode ) const [inline]

template<typename _Scalar, int _Dim>

bool Transform< _Scalar, _Dim >::isApprox	(	const Transform< _Scalar, _Dim > &	other,
		typename NumTraits< Scalar >::Real	prec = `precision<Scalar>()`
	)		const `[inline]`

Returns:: true if *this is approximately equal to other, within the precision determined by prec.

See also:: MatrixBase::isApprox()

Definition at line 284 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

bool Transform< _Scalar, _Dim >::isApprox	(	const Transform< _Scalar, _Dim > &	other,
		typename NumTraits< Scalar >::Real	prec = `NumTraits<Scalar>::dummy_precision()`
	)		const `[inline]`

Returns:: true if *this is approximately equal to other, within the precision determined by prec.

See also:: MatrixBase::isApprox()

Definition at line 564 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

ConstLinearPart Transform< _Scalar, _Dim >::linear ( ) const [inline]

Returns:: a read-only expression of the linear (linear) part of the transformation

Definition at line 162 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

LinearPart Transform< _Scalar, _Dim >::linear ( ) [inline]

Returns:: a writable expression of the linear (linear) part of the transformation

Definition at line 164 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

ConstLinearPart Transform< _Scalar, _Dim >::linear ( ) const [inline]

Returns:: a read-only expression of the linear part of the transformation

Definition at line 379 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

LinearPart Transform< _Scalar, _Dim >::linear ( ) [inline]

Returns:: a writable expression of the linear part of the transformation

Definition at line 381 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> Transform< _Scalar, _Dim >::linearExt ( ) [inline]

Definition at line 582 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> Transform< _Scalar, _Dim >::linearExt ( ) const [inline]

Definition at line 588 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

void Transform< _Scalar, _Dim >::makeAffine ( ) [inline]

Sets the last row to [0 ... 0 1]

Definition at line 569 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const MatrixType& Transform< _Scalar, _Dim >::matrix ( ) const [inline]

Returns:: a read-only expression of the transformation matrix

Definition at line 157 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

MatrixType& Transform< _Scalar, _Dim >::matrix ( ) [inline]

Returns:: a writable expression of the transformation matrix

Definition at line 159 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const MatrixType& Transform< _Scalar, _Dim >::matrix ( ) const [inline]

Returns:: a read-only expression of the transformation matrix

Definition at line 374 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

MatrixType& Transform< _Scalar, _Dim >::matrix ( ) [inline]

Returns:: a writable expression of the transformation matrix

Definition at line 376 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Scalar Transform< _Scalar, _Dim >::operator()	(	int	row,
		int	col
	)		const `[inline]`

shortcut for m_matrix(row,col);

See also:: MatrixBase::operaror(int,int) const

Definition at line 151 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Scalar& Transform< _Scalar, _Dim >::operator()	(	int	row,
		int	col
	)		`[inline]`

shortcut for m_matrix(row,col);

See also:: MatrixBase::operaror(int,int)

Definition at line 154 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Scalar Transform< _Scalar, _Dim >::operator()	(	Index	row,
		Index	col
	)		const `[inline]`

shortcut for m_matrix(row,col);

See also:: MatrixBase::operator(Index,Index) const

Definition at line 368 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Scalar& Transform< _Scalar, _Dim >::operator()	(	Index	row,
		Index	col
	)		`[inline]`

shortcut for m_matrix(row,col);

See also:: MatrixBase::operator(Index,Index)

Definition at line 371 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

const ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType Transform< _Scalar, _Dim >::operator* ( const MatrixBase< OtherDerived > & other ) const [inline]

Returns:: an expression of the product between the transform *this and a matrix expression other

The right hand side other might be either:

a vector of size Dim,
an homogeneous vector of size Dim+1,
a transformation matrix of size Dim+1 x Dim+1.

Definition at line 181 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const Transform Transform< _Scalar, _Dim >::operator* ( const Transform< _Scalar, _Dim > & other ) const [inline]

Contatenates two transformations

Definition at line 193 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > Transform< Scalar, Dim, Mode, Options >::operator* ( const TranslationType & t ) const [inline]

Definition at line 555 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim>

Transform< Scalar, Dim > Transform< Scalar, Dim >::operator* ( const ScalingType & s ) const [inline]

Definition at line 572 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

template<typename Derived >

Transform< Scalar, Dim, Mode, Options > Transform< Scalar, Dim, Mode, Options >::operator* ( const RotationBase< Derived, Dim > & r ) const [inline]

Definition at line 592 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

EIGEN_STRONG_INLINE const internal::transform_right_product_impl<Transform, OtherDerived>::ResultType Transform< _Scalar, _Dim >::operator* ( const EigenBase< OtherDerived > & other ) const [inline]

Returns:: an expression of the product between the transform *this and a matrix expression other

The right hand side other might be either:

a vector of size Dim,
an homogeneous vector of size Dim+1,
a set of vectors of size Dim x Dynamic,
a set of homogeneous vectors of size Dim+1 x Dynamic,
a linear transformation matrix of size Dim x Dim,
an affine transformation matrix of size Dim x Dim+1,
a transformation matrix of size Dim+1 x Dim+1.

Definition at line 407 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename DiagonalDerived >

const TransformTimeDiagonalReturnType Transform< _Scalar, _Dim >::operator* ( const DiagonalBase< DiagonalDerived > & b ) const [inline]

Returns:: The product expression of a transform a times a diagonal matrix b

The rhs diagonal matrix is interpreted as an affine scaling transformation. The product results in a Transform of the same type (mode) as the lhs only if the lhs mode is no isometry. In that case, the returned transform is an affinity.

Definition at line 430 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const Transform Transform< _Scalar, _Dim >::operator* ( const Transform< _Scalar, _Dim > & other ) const [inline]

Concatenates two transformations

Definition at line 459 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<int OtherMode, int OtherOptions>

const internal::transform_transform_product_impl< Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType Transform< _Scalar, _Dim >::operator* ( const Transform< Scalar, Dim, OtherMode, OtherOptions > & other ) const [inline]

Concatenates two different transformations

Definition at line 468 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform Transform< _Scalar, _Dim >::operator* ( const TranslationType & t ) const [inline]

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > Transform< Scalar, Dim, Mode, Options >::operator* ( const UniformScaling< Scalar > & s ) const [inline]

Definition at line 944 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform Transform< _Scalar, _Dim >::operator* ( const RotationBase< Derived, Dim > & r ) const [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const TranslationType & t ) [inline]

Definition at line 228 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const ScalingType & s ) [inline]

Definition at line 232 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform& Transform< _Scalar, _Dim >::operator*= ( const RotationBase< Derived, Dim > & r ) [inline]

Definition at line 245 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator*= ( const EigenBase< OtherDerived > & other ) [inline]

Definition at line 456 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const TranslationType & t ) [inline]

Definition at line 510 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const UniformScaling< Scalar > & s ) [inline]

Definition at line 514 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const DiagonalMatrix< Scalar, Dim > & s ) [inline]

Definition at line 517 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform& Transform< _Scalar, _Dim >::operator*= ( const RotationBase< Derived, Dim > & r ) [inline]

Definition at line 522 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator= ( const Transform< _Scalar, _Dim > & other ) [inline]

Definition at line 105 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator= ( const MatrixBase< OtherDerived > & other ) [inline]

Set *this from a (Dim+1)^2 matrix.

Definition at line 137 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::operator= ( const TranslationType & t ) [inline]

Definition at line 545 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim>

Transform< Scalar, Dim > & Transform< Scalar, Dim >::operator= ( const ScalingType & t ) [inline]

Definition at line 563 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

template<typename Derived >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::operator= ( const RotationBase< Derived, Dim > & r ) [inline]

Definition at line 581 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator= ( const Transform< _Scalar, _Dim > & other ) [inline]

Definition at line 273 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator= ( const EigenBase< OtherDerived > & other ) [inline]

Set *this from a Dim^2 or (Dim+1)^2 matrix.

Definition at line 288 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator= ( const ReturnByValue< OtherDerived > & other ) [inline]

Definition at line 351 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator= ( const TranslationType & t ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::operator= ( const UniformScaling< Scalar > & t ) [inline]

Definition at line 935 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform& Transform< _Scalar, _Dim >::operator= ( const RotationBase< Derived, Dim > & r ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename RotationType >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::prerotate ( const RotationType & rotation ) [inline]

Applies on the left the rotation represented by the rotation rotation to *this and returns a reference to *this.

See rotate() for further details.

See also:: rotate()

Definition at line 504 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename RotationType >

Transform& Transform< _Scalar, _Dim >::prerotate ( const RotationType & rotation ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::prescale ( const MatrixBase< OtherDerived > & other ) [inline]

Applies on the left the non uniform scale transformation represented by the vector other to *this and returns a reference to *this.

See also:: scale()

Definition at line 422 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::prescale ( Scalar s ) [inline]

Applies on the left a uniform scale of a factor c to *this and returns a reference to *this.

See also:: scale(Scalar)

Definition at line 434 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::prescale ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::prescale ( Scalar s ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::preshear	(	Scalar	sx,
		Scalar	sy
	)

Applies on the left the shear transformation represented by the vector other to *this and returns a reference to *this.

Warning:: 2D only.

See also:: shear()

Definition at line 533 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::preshear	(	Scalar	sx,
		Scalar	sy
	)

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::pretranslate ( const MatrixBase< OtherDerived > & other ) [inline]

Applies on the left the translation matrix represented by the vector other to *this and returns a reference to *this.

See also:: translate()

Definition at line 461 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::pretranslate ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename RotationType >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::rotate ( const RotationType & rotation ) [inline]

Applies on the right the rotation represented by the rotation rotation to *this and returns a reference to *this.

The template parameter RotationType is the type of the rotation which must be known by ei_toRotationMatrix<>.

Natively supported types includes:

any scalar (2D),
a Dim x Dim matrix expression,
a Quaternion (3D),
a AngleAxis (3D)

This mechanism is easily extendable to support user types such as Euler angles, or a pair of Quaternion for 4D rotations.

See also:: rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)

Applies on the right the rotation represented by the rotation rotation to *this and returns a reference to *this.

The template parameter RotationType is the type of the rotation which must be known by internal::toRotationMatrix<>.

Natively supported types includes:

any scalar (2D),
a Dim x Dim matrix expression,
a Quaternion (3D),
a AngleAxis (3D)

This mechanism is easily extendable to support user types such as Euler angles, or a pair of Quaternion for 4D rotations.

See also:: rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)

Definition at line 488 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename RotationType >

Transform& Transform< _Scalar, _Dim >::rotate ( const RotationType & rotation ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

const Transform< Scalar, Dim, Mode, Options >::LinearMatrixType Transform< Scalar, Dim, Mode, Options >::rotation ( ) const

Returns:: the rotation part of the transformation

See also:: computeRotationScaling(), computeScalingRotation(), class SVD

Returns:: the rotation part of the transformation

See also:: computeRotationScaling(), computeScalingRotation(), class SVD

Definition at line 612 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const LinearMatrixType Transform< _Scalar, _Dim >::rotation ( ) const

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::scale ( const MatrixBase< OtherDerived > & other ) [inline]

Applies on the right the non uniform scale transformation represented by the vector other to *this and returns a reference to *this.

See also:: prescale()

Definition at line 397 of file Eigen2Support/Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::scale ( Scalar s ) [inline]

Applies on the right a uniform scale of a factor c to *this and returns a reference to *this.

See also:: prescale(Scalar)

Definition at line 409 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::scale ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::scale ( Scalar s ) [inline]

template<typename _Scalar, int _Dim>

void Transform< _Scalar, _Dim >::setIdentity ( ) [inline]

See also:: MatrixBase::setIdentity()

Definition at line 197 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

void Transform< _Scalar, _Dim >::setIdentity ( ) [inline]

See also:: MatrixBase::setIdentity()

Definition at line 474 of file Geometry/Transform.h.

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::shear	(	Scalar	sx,
		Scalar	sy
	)

Applies on the right the shear transformation represented by the vector other to *this and returns a reference to *this.

Warning:: 2D only.

See also:: preshear()

Definition at line 518 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::shear	(	Scalar	sx,
		Scalar	sy
	)

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::translate ( const MatrixBase< OtherDerived > & other ) [inline]

Applies on the right the translation matrix represented by the vector other to *this and returns a reference to *this.

See also:: pretranslate()

Definition at line 447 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::translate ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename _Scalar, int _Dim>

ConstTranslationPart Transform< _Scalar, _Dim >::translation ( ) const [inline]

Returns:: a read-only expression of the translation vector of the transformation

Definition at line 167 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

TranslationPart Transform< _Scalar, _Dim >::translation ( ) [inline]

Returns:: a writable expression of the translation vector of the transformation

Definition at line 169 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

ConstTranslationPart Transform< _Scalar, _Dim >::translation ( ) const [inline]

Returns:: a read-only expression of the translation vector of the transformation

Definition at line 389 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

TranslationPart Transform< _Scalar, _Dim >::translation ( ) [inline]

Returns:: a writable expression of the translation vector of the transformation

Definition at line 391 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> Transform< _Scalar, _Dim >::translationExt ( ) [inline]

Definition at line 595 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> Transform< _Scalar, _Dim >::translationExt ( ) const [inline]

Definition at line 601 of file Geometry/Transform.h.

Friends And Related Function Documentation

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

const ProductReturnType<OtherDerived,MatrixType>::Type operator*	(	const MatrixBase< OtherDerived > &	a,
		const Transform< _Scalar, _Dim > &	b
	)		`[friend]`

Returns:: the product expression of a transformation matrix a times a transform b The transformation matrix a must have a Dim+1 x Dim+1 sizes.

Definition at line 188 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

Transform operator*	(	const LinearMatrixType &	mat,
		const Transform< _Scalar, _Dim > &	t
	)		`[friend]`

Definition at line 234 of file Eigen2Support/Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

const internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType operator*	(	const EigenBase< OtherDerived > &	a,
		const Transform< _Scalar, _Dim > &	b
	)		`[friend]`

Returns:: the product expression of a transformation matrix a times a transform b

The left hand side other might be either:

a linear transformation matrix of size Dim x Dim,
an affine transformation matrix of size Dim x Dim+1,
a general transformation matrix of size Dim+1 x Dim+1.

Definition at line 419 of file Geometry/Transform.h.

template<typename _Scalar, int _Dim>

template<typename DiagonalDerived >

TransformTimeDiagonalReturnType operator*	(	const DiagonalBase< DiagonalDerived > &	a,
		const Transform< _Scalar, _Dim > &	b
	)		`[friend]`

Returns:: The product expression of a diagonal matrix a times a transform b

The lhs diagonal matrix is interpreted as an affine scaling transformation. The product results in a Transform of the same type (mode) as the lhs only if the lhs mode is no isometry. In that case, the returned transform is an affinity.

Definition at line 445 of file Geometry/Transform.h.

Member Data Documentation

template<typename _Scalar, int _Dim>

MatrixType Transform< _Scalar, _Dim >::m_matrix [protected]

Definition at line 88 of file Eigen2Support/Geometry/Transform.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename _Scalar, int _Dim> class Transform< _Scalar, _Dim >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename _Scalar, int _Dim>
class Transform< _Scalar, _Dim >