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, int(Mode)==(AffineCompact)> | ConstLinearPart |
| typedef const MatrixType | ConstMatrixType |
| typedef const Block< const MatrixType, Dim, 1 > | ConstTranslationPart |
| typedef const Block < ConstMatrixType, Dim, 1, int(Mode)==(AffineCompact)> | 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, int(Mode)==(AffineCompact)> | 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, int(Mode)==(AffineCompact)> | 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> | |
| 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< Scalar, Dim,(int(Mode)==int(Isometry)?Affine:Isometry)> | 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 Eigen::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:
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): 
Rotation R (Dim)x(Dim): 
Linear Matrix L (Dim)x(Dim): 
Affine Matrix A (Dim)x(Dim+1): 
Column vector v (Dim)x(1): 
Set of column vectors V1...Vn (Dim)x(n): 
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 TopicCustomizingEigen by defining the preprocessor symbol EIGEN_TRANSFORM_PLUGIN.
- See also:
- class Matrix, class Quaternion
Definition at line 43 of file Eigen2Support/Geometry/Transform.h.
Member Typedef Documentation
| typedef internal::conditional<int(Mode)==int(AffineCompact), MatrixType&, Block<MatrixType,Dim,HDim> >::type Eigen::Transform< _Scalar, _Dim >::AffinePart |
type of read/write reference to the affine part of the transformation
Definition at line 203 of file Geometry/Transform.h.
| typedef internal::conditional<int(Mode)==int(AffineCompact), const MatrixType&, const Block<const MatrixType,Dim,HDim> >::type Eigen::Transform< _Scalar, _Dim >::ConstAffinePart |
type of read reference to the affine part of the transformation
Definition at line 207 of file Geometry/Transform.h.
| typedef const Block<const MatrixType,Dim,Dim> Eigen::Transform< _Scalar, _Dim >::ConstLinearPart |
type of read/write reference to the linear part of the transformation
Definition at line 60 of file Eigen2Support/Geometry/Transform.h.
| typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact)> Eigen::Transform< _Scalar, _Dim >::ConstLinearPart |
type of read reference to the linear part of the transformation
Definition at line 199 of file Geometry/Transform.h.
| typedef const MatrixType Eigen::Transform< _Scalar, _Dim >::ConstMatrixType |
constified MatrixType
Definition at line 193 of file Geometry/Transform.h.
| typedef const Block<const MatrixType,Dim,1> Eigen::Transform< _Scalar, _Dim >::ConstTranslationPart |
type of a read/write reference to the translation part of the rotation
Definition at line 66 of file Eigen2Support/Geometry/Transform.h.
| typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> Eigen::Transform< _Scalar, _Dim >::ConstTranslationPart |
type of a read reference to the translation part of the rotation
Definition at line 213 of file Geometry/Transform.h.
| typedef DenseIndex Eigen::Transform< _Scalar, _Dim >::Index |
Definition at line 189 of file Geometry/Transform.h.
| typedef Matrix<Scalar,Dim,Dim> Eigen::Transform< _Scalar, _Dim >::LinearMatrixType |
type of the matrix used to represent the linear part of the transformation
Definition at line 56 of file Eigen2Support/Geometry/Transform.h.
| typedef Matrix<Scalar,Dim,Dim,Options> Eigen::Transform< _Scalar, _Dim >::LinearMatrixType |
type of the matrix used to represent the linear part of the transformation
Definition at line 195 of file Geometry/Transform.h.
| typedef Block<MatrixType,Dim,Dim> Eigen::Transform< _Scalar, _Dim >::LinearPart |
type of read/write reference to the linear part of the transformation
Definition at line 58 of file Eigen2Support/Geometry/Transform.h.
| typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact)> Eigen::Transform< _Scalar, _Dim >::LinearPart |
type of read/write reference to the linear part of the transformation
Definition at line 197 of file Geometry/Transform.h.
| typedef Matrix<Scalar,HDim,HDim> Eigen::Transform< _Scalar, _Dim >::MatrixType |
type of the matrix used to represent the transformation
Definition at line 54 of file Eigen2Support/Geometry/Transform.h.
| typedef internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type Eigen::Transform< _Scalar, _Dim >::MatrixType |
type of the matrix used to represent the transformation
Definition at line 191 of file Geometry/Transform.h.
| typedef _Scalar Eigen::Transform< _Scalar, _Dim >::Scalar |
the scalar type of the coefficients
Definition at line 50 of file Eigen2Support/Geometry/Transform.h.
| typedef _Scalar Eigen::Transform< _Scalar, _Dim >::Scalar |
the scalar type of the coefficients
Definition at line 186 of file Geometry/Transform.h.
| typedef Scaling<Scalar,Dim> Eigen::Transform< _Scalar, _Dim >::ScalingType |
corresponding scaling transformation type
Definition at line 70 of file Eigen2Support/Geometry/Transform.h.
| typedef internal::transform_take_affine_part<Transform> Eigen::Transform< _Scalar, _Dim >::take_affine_part |
Definition at line 263 of file Geometry/Transform.h.
| typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> Eigen::Transform< _Scalar, _Dim >::TransformTimeDiagonalReturnType |
The return type of the product between a diagonal matrix and a transform
Definition at line 220 of file Geometry/Transform.h.
| typedef Block<MatrixType,Dim,1> Eigen::Transform< _Scalar, _Dim >::TranslationPart |
type of a read/write reference to the translation part of the rotation
Definition at line 64 of file Eigen2Support/Geometry/Transform.h.
| typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> Eigen::Transform< _Scalar, _Dim >::TranslationPart |
type of a read/write reference to the translation part of the rotation
Definition at line 211 of file Geometry/Transform.h.
| typedef Translation<Scalar,Dim> Eigen::Transform< _Scalar, _Dim >::TranslationType |
corresponding translation type
Definition at line 68 of file Eigen2Support/Geometry/Transform.h.
| typedef Translation<Scalar,Dim> Eigen::Transform< _Scalar, _Dim >::TranslationType |
corresponding translation type
Definition at line 215 of file Geometry/Transform.h.
| typedef Matrix<Scalar,Dim,1> Eigen::Transform< _Scalar, _Dim >::VectorType |
type of a vector
Definition at line 62 of file Eigen2Support/Geometry/Transform.h.
| typedef Matrix<Scalar,Dim,1> Eigen::Transform< _Scalar, _Dim >::VectorType |
type of a vector
Definition at line 209 of file Geometry/Transform.h.
Member Enumeration Documentation
| anonymous enum |
Definition at line 218 of file Geometry/Transform.h.
Constructor & Destructor Documentation
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | ) | [inline] |
Default constructor without initialization of the coefficients.
Definition at line 79 of file Eigen2Support/Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const Transform< _Scalar, _Dim > & | other | ) | [inline] |
Definition at line 81 of file Eigen2Support/Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const TranslationType & | t | ) | [inline, explicit] |
Definition at line 86 of file Eigen2Support/Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const ScalingType & | s | ) | [inline, explicit] |
Definition at line 87 of file Eigen2Support/Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const RotationBase< Derived, Dim > & | r | ) | [inline, explicit] |
Definition at line 89 of file Eigen2Support/Geometry/Transform.h.
| Eigen::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 116 of file Eigen2Support/Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const Transform< OtherScalarType, Dim > & | other | ) | [inline, explicit] |
Copy constructor with scalar type conversion
Definition at line 263 of file Eigen2Support/Geometry/Transform.h.
| Eigen::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 230 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const Transform< _Scalar, _Dim > & | other | ) | [inline] |
Definition at line 237 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const TranslationType & | t | ) | [inline, explicit] |
Definition at line 243 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const UniformScaling< Scalar > & | s | ) | [inline, explicit] |
Definition at line 248 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const RotationBase< Derived, Dim > & | r | ) | [inline, explicit] |
Definition at line 254 of file Geometry/Transform.h.
| Eigen::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 267 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const Transform< Scalar, Dim, Mode, OtherOptions > & | other | ) | [inline] |
Definition at line 288 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const Transform< Scalar, Dim, OtherMode, OtherOptions > & | other | ) | [inline] |
Definition at line 296 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const ReturnByValue< OtherDerived > & | other | ) | [inline] |
Definition at line 337 of file Geometry/Transform.h.
| Eigen::Transform< _Scalar, _Dim >::Transform | ( | const Transform< OtherScalarType, Dim, Mode, Options > & | other | ) | [inline, explicit] |
Copy constructor with scalar type conversion
Definition at line 577 of file Geometry/Transform.h.
Member Function Documentation
| ConstAffinePart Eigen::Transform< _Scalar, _Dim >::affine | ( | ) | const [inline] |
- Returns:
- a read-only expression of the Dim x HDim affine part of the transformation
Definition at line 377 of file Geometry/Transform.h.
| AffinePart Eigen::Transform< _Scalar, _Dim >::affine | ( | ) | [inline] |
- Returns:
- a writable expression of the Dim x HDim affine part of the transformation
Definition at line 379 of file Geometry/Transform.h.
| internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type Eigen::Transform< _Scalar, _Dim >::cast | ( | ) | const [inline] |
- Returns:
*thiswith 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 258 of file Eigen2Support/Geometry/Transform.h.
| internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type Eigen::Transform< _Scalar, _Dim >::cast | ( | ) | const [inline] |
- Returns:
*thiswith 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 572 of file Geometry/Transform.h.
| static EIGEN_STRONG_INLINE void Eigen::Transform< _Scalar, _Dim >::check_template_params | ( | ) | [inline, static, protected] |
Definition at line 634 of file Geometry/Transform.h.
| void Eigen::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 619 of file Eigen2Support/Geometry/Transform.h.
| void Eigen::Transform< _Scalar, _Dim >::computeRotationScaling | ( | RotationMatrixType * | rotation, |
| ScalingMatrixType * | scaling | ||
| ) | const |
| void Eigen::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 650 of file Eigen2Support/Geometry/Transform.h.
| void Eigen::Transform< _Scalar, _Dim >::computeScalingRotation | ( | ScalingMatrixType * | scaling, |
| RotationMatrixType * | rotation | ||
| ) | const |
| const Scalar* Eigen::Transform< _Scalar, _Dim >::data | ( | ) | const [inline] |
- Returns:
- a const pointer to the column major internal matrix
Definition at line 248 of file Eigen2Support/Geometry/Transform.h.
| Scalar* Eigen::Transform< _Scalar, _Dim >::data | ( | ) | [inline] |
- Returns:
- a non-const pointer to the column major internal matrix
Definition at line 250 of file Eigen2Support/Geometry/Transform.h.
| const Scalar* Eigen::Transform< _Scalar, _Dim >::data | ( | ) | const [inline] |
- Returns:
- a const pointer to the column major internal matrix
Definition at line 562 of file Geometry/Transform.h.
| Scalar* Eigen::Transform< _Scalar, _Dim >::data | ( | ) | [inline] |
- Returns:
- a non-const pointer to the column major internal matrix
Definition at line 564 of file Geometry/Transform.h.
| Eigen::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 46 of file Eigen2Support/Geometry/Transform.h.
| Eigen::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 179 of file Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 674 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::fromPositionOrientationScale | ( | const MatrixBase< PositionDerived > & | position, |
| const OrientationType & | orientation, | ||
| const MatrixBase< ScaleDerived > & | scale | ||
| ) |
| static const MatrixType::IdentityReturnType Eigen::Transform< _Scalar, _Dim >::Identity | ( | ) | [inline, static] |
Definition at line 184 of file Eigen2Support/Geometry/Transform.h.
| static const Transform Eigen::Transform< _Scalar, _Dim >::Identity | ( | ) | [inline, static] |
Returns an identity transformation.
Definition at line 498 of file Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > Eigen::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 706 of file Eigen2Support/Geometry/Transform.h.
| Transform Eigen::Transform< _Scalar, _Dim >::inverse | ( | TransformTraits | traits = (TransformTraits) Mode | ) | const [inline] |
| bool Eigen::Transform< _Scalar, _Dim >::isApprox | ( | const Transform< _Scalar, _Dim > & | other, |
| typename NumTraits< Scalar >::Real | prec = precision<Scalar>() |
||
| ) | const [inline] |
- Returns:
trueif*thisis approximately equal to other, within the precision determined by prec.
- See also:
- MatrixBase::isApprox()
Definition at line 270 of file Eigen2Support/Geometry/Transform.h.
| bool Eigen::Transform< _Scalar, _Dim >::isApprox | ( | const Transform< _Scalar, _Dim > & | other, |
| typename NumTraits< Scalar >::Real | prec = NumTraits<Scalar>::dummy_precision() |
||
| ) | const [inline] |
- Returns:
trueif*thisis approximately equal to other, within the precision determined by prec.
- See also:
- MatrixBase::isApprox()
Definition at line 587 of file Geometry/Transform.h.
| ConstLinearPart Eigen::Transform< _Scalar, _Dim >::linear | ( | ) | const [inline] |
- Returns:
- a read-only expression of the linear (linear) part of the transformation
Definition at line 148 of file Eigen2Support/Geometry/Transform.h.
| LinearPart Eigen::Transform< _Scalar, _Dim >::linear | ( | ) | [inline] |
- Returns:
- a writable expression of the linear (linear) part of the transformation
Definition at line 150 of file Eigen2Support/Geometry/Transform.h.
| ConstLinearPart Eigen::Transform< _Scalar, _Dim >::linear | ( | ) | const [inline] |
- Returns:
- a read-only expression of the linear part of the transformation
Definition at line 372 of file Geometry/Transform.h.
| LinearPart Eigen::Transform< _Scalar, _Dim >::linear | ( | ) | [inline] |
- Returns:
- a writable expression of the linear part of the transformation
Definition at line 374 of file Geometry/Transform.h.
| Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> Eigen::Transform< _Scalar, _Dim >::linearExt | ( | ) | [inline] |
Definition at line 605 of file Geometry/Transform.h.
| const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> Eigen::Transform< _Scalar, _Dim >::linearExt | ( | ) | const [inline] |
Definition at line 611 of file Geometry/Transform.h.
| void Eigen::Transform< _Scalar, _Dim >::makeAffine | ( | ) | [inline] |
Sets the last row to [0 ... 0 1]
Definition at line 592 of file Geometry/Transform.h.
| const MatrixType& Eigen::Transform< _Scalar, _Dim >::matrix | ( | ) | const [inline] |
- Returns:
- a read-only expression of the transformation matrix
Definition at line 143 of file Eigen2Support/Geometry/Transform.h.
| MatrixType& Eigen::Transform< _Scalar, _Dim >::matrix | ( | ) | [inline] |
- Returns:
- a writable expression of the transformation matrix
Definition at line 145 of file Eigen2Support/Geometry/Transform.h.
| const MatrixType& Eigen::Transform< _Scalar, _Dim >::matrix | ( | ) | const [inline] |
- Returns:
- a read-only expression of the transformation matrix
Definition at line 367 of file Geometry/Transform.h.
| MatrixType& Eigen::Transform< _Scalar, _Dim >::matrix | ( | ) | [inline] |
- Returns:
- a writable expression of the transformation matrix
Definition at line 369 of file Geometry/Transform.h.
| Scalar Eigen::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 137 of file Eigen2Support/Geometry/Transform.h.
| Scalar& Eigen::Transform< _Scalar, _Dim >::operator() | ( | int | row, |
| int | col | ||
| ) | [inline] |
shortcut for m_matrix(row,col);
- See also:
- MatrixBase::operaror(int,int)
Definition at line 140 of file Eigen2Support/Geometry/Transform.h.
| Scalar Eigen::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 361 of file Geometry/Transform.h.
| Scalar& Eigen::Transform< _Scalar, _Dim >::operator() | ( | Index | row, |
| Index | col | ||
| ) | [inline] |
shortcut for m_matrix(row,col);
- See also:
- MatrixBase::operator(Index,Index)
Definition at line 364 of file Geometry/Transform.h.
| const ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType Eigen::Transform< _Scalar, _Dim >::operator* | ( | const MatrixBase< OtherDerived > & | other | ) | const [inline] |
- Returns:
- an expression of the product between the transform
*thisand 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 167 of file Eigen2Support/Geometry/Transform.h.
| const Transform Eigen::Transform< _Scalar, _Dim >::operator* | ( | const Transform< _Scalar, _Dim > & | other | ) | const [inline] |
Contatenates two transformations
Definition at line 179 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > Eigen::Transform< Scalar, Dim, Mode, Options >::operator* | ( | const TranslationType & | t | ) | const [inline] |
Definition at line 541 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim > Eigen::Transform< Scalar, Dim >::operator* | ( | const ScalingType & | s | ) | const [inline] |
Definition at line 558 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > Eigen::Transform< Scalar, Dim, Mode, Options >::operator* | ( | const RotationBase< Derived, Dim > & | r | ) | const [inline] |
Definition at line 578 of file Eigen2Support/Geometry/Transform.h.
| EIGEN_STRONG_INLINE const internal::transform_right_product_impl<Transform, OtherDerived>::ResultType Eigen::Transform< _Scalar, _Dim >::operator* | ( | const EigenBase< OtherDerived > & | other | ) | const [inline] |
- Returns:
- an expression of the product between the transform
*thisand 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 400 of file Geometry/Transform.h.
| const TransformTimeDiagonalReturnType Eigen::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 423 of file Geometry/Transform.h.
| const Transform Eigen::Transform< _Scalar, _Dim >::operator* | ( | const Transform< _Scalar, _Dim > & | other | ) | const [inline] |
Concatenates two transformations
Definition at line 452 of file Geometry/Transform.h.
| internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType Eigen::Transform< _Scalar, _Dim >::operator* | ( | const Transform< Scalar, Dim, OtherMode, OtherOptions > & | other | ) | const [inline] |
Concatenates two different transformations
Definition at line 485 of file Geometry/Transform.h.
| Transform Eigen::Transform< _Scalar, _Dim >::operator* | ( | const TranslationType & | t | ) | const [inline] |
| Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry)> Eigen::Transform< _Scalar, _Dim >::operator* | ( | const UniformScaling< Scalar > & | s | ) | const [inline] |
Definition at line 533 of file Geometry/Transform.h.
| Transform Eigen::Transform< _Scalar, _Dim >::operator* | ( | const RotationBase< Derived, Dim > & | r | ) | const [inline] |
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const TranslationType & | t | ) | [inline] |
Definition at line 214 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const ScalingType & | s | ) | [inline] |
Definition at line 218 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const RotationBase< Derived, Dim > & | r | ) | [inline] |
Definition at line 231 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const EigenBase< OtherDerived > & | other | ) | [inline] |
Definition at line 449 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const TranslationType & | t | ) | [inline] |
Definition at line 528 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const UniformScaling< Scalar > & | s | ) | [inline] |
Definition at line 532 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const DiagonalMatrix< Scalar, Dim > & | s | ) | [inline] |
Definition at line 540 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator*= | ( | const RotationBase< Derived, Dim > & | r | ) | [inline] |
Definition at line 545 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator= | ( | const Transform< _Scalar, _Dim > & | other | ) | [inline] |
Definition at line 91 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator= | ( | const MatrixBase< OtherDerived > & | other | ) | [inline] |
Set *this from a (Dim+1)^2 matrix.
Definition at line 123 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > & Eigen::Transform< Scalar, Dim, Mode, Options >::operator= | ( | const TranslationType & | t | ) | [inline] |
Definition at line 531 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim > & Eigen::Transform< Scalar, Dim >::operator= | ( | const ScalingType & | t | ) | [inline] |
Definition at line 549 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > & Eigen::Transform< Scalar, Dim, Mode, Options >::operator= | ( | const RotationBase< Derived, Dim > & | r | ) | [inline] |
Definition at line 567 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator= | ( | const Transform< _Scalar, _Dim > & | other | ) | [inline] |
Definition at line 260 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator= | ( | const EigenBase< OtherDerived > & | other | ) | [inline] |
Set *this from a Dim^2 or (Dim+1)^2 matrix.
Definition at line 278 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator= | ( | const ReturnByValue< OtherDerived > & | other | ) | [inline] |
Definition at line 344 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator= | ( | const TranslationType & | t | ) | [inline] |
| Transform< Scalar, Dim, Mode, Options > & Eigen::Transform< Scalar, Dim, Mode, Options >::operator= | ( | const UniformScaling< Scalar > & | t | ) | [inline] |
Definition at line 958 of file Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::operator= | ( | const RotationBase< Derived, Dim > & | r | ) | [inline] |
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 490 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::prerotate | ( | const RotationType & | rotation | ) | [inline] |
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 408 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 420 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::prescale | ( | const MatrixBase< OtherDerived > & | other | ) | [inline] |
| Transform& Eigen::Transform< _Scalar, _Dim >::prescale | ( | Scalar | s | ) | [inline] |
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 519 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::preshear | ( | Scalar | sx, |
| Scalar | sy | ||
| ) |
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 447 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::pretranslate | ( | const MatrixBase< OtherDerived > & | other | ) | [inline] |
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 474 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::rotate | ( | const RotationType & | rotation | ) | [inline] |
| const Transform< Scalar, Dim, Mode, Options >::LinearMatrixType Eigen::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 598 of file Eigen2Support/Geometry/Transform.h.
| const LinearMatrixType Eigen::Transform< _Scalar, _Dim >::rotation | ( | ) | const |
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 383 of file Eigen2Support/Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 395 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::scale | ( | const MatrixBase< OtherDerived > & | other | ) | [inline] |
| Transform& Eigen::Transform< _Scalar, _Dim >::scale | ( | Scalar | s | ) | [inline] |
| void Eigen::Transform< _Scalar, _Dim >::setIdentity | ( | ) | [inline] |
- See also:
- MatrixBase::setIdentity()
Definition at line 183 of file Eigen2Support/Geometry/Transform.h.
| void Eigen::Transform< _Scalar, _Dim >::setIdentity | ( | ) | [inline] |
- See also:
- MatrixBase::setIdentity()
Definition at line 492 of file Geometry/Transform.h.
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 504 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::shear | ( | Scalar | sx, |
| Scalar | sy | ||
| ) |
| Transform< Scalar, Dim, Mode, Options > & Eigen::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 433 of file Eigen2Support/Geometry/Transform.h.
| Transform& Eigen::Transform< _Scalar, _Dim >::translate | ( | const MatrixBase< OtherDerived > & | other | ) | [inline] |
| ConstTranslationPart Eigen::Transform< _Scalar, _Dim >::translation | ( | ) | const [inline] |
- Returns:
- a read-only expression of the translation vector of the transformation
Definition at line 153 of file Eigen2Support/Geometry/Transform.h.
| TranslationPart Eigen::Transform< _Scalar, _Dim >::translation | ( | ) | [inline] |
- Returns:
- a writable expression of the translation vector of the transformation
Definition at line 155 of file Eigen2Support/Geometry/Transform.h.
| ConstTranslationPart Eigen::Transform< _Scalar, _Dim >::translation | ( | ) | const [inline] |
- Returns:
- a read-only expression of the translation vector of the transformation
Definition at line 382 of file Geometry/Transform.h.
| TranslationPart Eigen::Transform< _Scalar, _Dim >::translation | ( | ) | [inline] |
- Returns:
- a writable expression of the translation vector of the transformation
Definition at line 384 of file Geometry/Transform.h.
| Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> Eigen::Transform< _Scalar, _Dim >::translationExt | ( | ) | [inline] |
Definition at line 618 of file Geometry/Transform.h.
| const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> Eigen::Transform< _Scalar, _Dim >::translationExt | ( | ) | const [inline] |
Definition at line 624 of file Geometry/Transform.h.
Friends And Related Function Documentation
| 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 174 of file Eigen2Support/Geometry/Transform.h.
| Transform operator* | ( | const LinearMatrixType & | mat, |
| const Transform< _Scalar, _Dim > & | t | ||
| ) | [friend] |
Definition at line 220 of file Eigen2Support/Geometry/Transform.h.
| 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 412 of file Geometry/Transform.h.
| 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 438 of file Geometry/Transform.h.
Member Data Documentation
MatrixType Eigen::Transform< _Scalar, _Dim >::m_matrix [protected] |
Definition at line 74 of file Eigen2Support/Geometry/Transform.h.
The documentation for this class was generated from the following files: