rtabmap: transform2.hpp Source File

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00039 #pragma once
00040 
00041 // Dependency:
00042 #include "../glm.hpp"
00043 #include "../gtx/transform.hpp"
00044 
00045 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
00046 #       pragma message("GLM: GLM_GTX_transform2 extension included")
00047 #endif
00048 
00049 namespace glm
00050 {
00053 
00056         template <typename T, precision P>
00057         GLM_FUNC_DECL detail::tmat3x3<T, P> shearX2D(
00058                 detail::tmat3x3<T, P> const & m, 
00059                 T y);
00060 
00063         template <typename T, precision P> 
00064         GLM_FUNC_DECL detail::tmat3x3<T, P> shearY2D(
00065                 detail::tmat3x3<T, P> const & m, 
00066                 T x);
00067 
00070         template <typename T, precision P> 
00071         GLM_FUNC_DECL detail::tmat4x4<T, P> shearX3D(
00072                 const detail::tmat4x4<T, P> & m,
00073                 T y, 
00074                 T z);
00075 
00078         template <typename T, precision P> 
00079         GLM_FUNC_DECL detail::tmat4x4<T, P> shearY3D(
00080                 const detail::tmat4x4<T, P> & m, 
00081                 T x, 
00082                 T z);
00083 
00086         template <typename T, precision P> 
00087         GLM_FUNC_DECL detail::tmat4x4<T, P> shearZ3D(
00088                 const detail::tmat4x4<T, P> & m, 
00089                 T x, 
00090                 T y);
00091 
00092         //template <typename T> GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> shear(const detail::tmat4x4<T, P> & m, shearPlane, planePoint, angle)
00093         // Identity + tan(angle) * cross(Normal, OnPlaneVector)     0
00094         // - dot(PointOnPlane, normal) * OnPlaneVector              1
00095 
00096         // Reflect functions seem to don't work
00097         //template <typename T> detail::tmat3x3<T, P> reflect2D(const detail::tmat3x3<T, P> & m, const detail::tvec3<T, P>& normal){return reflect2DGTX(m, normal);}                                                                    //!< \brief Build a reflection matrix (from GLM_GTX_transform2 extension)
00098         //template <typename T> detail::tmat4x4<T, P> reflect3D(const detail::tmat4x4<T, P> & m, const detail::tvec3<T, P>& normal){return reflect3DGTX(m, normal);}                                                                    //!< \brief Build a reflection matrix (from GLM_GTX_transform2 extension)
00099                 
00102         template <typename T, precision P> 
00103         GLM_FUNC_DECL detail::tmat3x3<T, P> proj2D(
00104                 const detail::tmat3x3<T, P> & m, 
00105                 const detail::tvec3<T, P>& normal);
00106 
00109         template <typename T, precision P> 
00110         GLM_FUNC_DECL detail::tmat4x4<T, P> proj3D(
00111                 const detail::tmat4x4<T, P> & m, 
00112                 const detail::tvec3<T, P>& normal);
00113 
00116         template <typename valType, precision P> 
00117         GLM_FUNC_DECL detail::tmat4x4<valType, P> scaleBias(
00118                 valType scale, 
00119                 valType bias);
00120 
00123         template <typename valType, precision P> 
00124         GLM_FUNC_DECL detail::tmat4x4<valType, P> scaleBias(
00125                 detail::tmat4x4<valType, P> const & m, 
00126                 valType scale, 
00127                 valType bias);
00128 
00130 }// namespace glm
00131 
00132 #include "transform2.inl"