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Eigne Matrix Class Library

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src/Geometry/Scaling.h@1:3b8049da21b8, 2019-09-24 (annotated)

Committer:
jsoh91
Date:
Tue Sep 24 00:18:23 2019 +0000
Revision:
1:3b8049da21b8
Parent:
0:13a5d365ba16 
ignore and revise some of error parts

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ykuroda 0:13a5d365ba16 1 // This file is part of Eigen, a lightweight C++ template library
ykuroda 0:13a5d365ba16 2 // for linear algebra.
ykuroda 0:13a5d365ba16 3 //
ykuroda 0:13a5d365ba16 4 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
ykuroda 0:13a5d365ba16 5 //
ykuroda 0:13a5d365ba16 6 // This Source Code Form is subject to the terms of the Mozilla
ykuroda 0:13a5d365ba16 7 // Public License v. 2.0. If a copy of the MPL was not distributed
ykuroda 0:13a5d365ba16 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
ykuroda 0:13a5d365ba16 9
ykuroda 0:13a5d365ba16 10 #ifndef EIGEN_SCALING_H
ykuroda 0:13a5d365ba16 11 #define EIGEN_SCALING_H
ykuroda 0:13a5d365ba16 12
ykuroda 0:13a5d365ba16 13 namespace Eigen {
ykuroda 0:13a5d365ba16 14
ykuroda 0:13a5d365ba16 15 /** \geometry_module \ingroup Geometry_Module
ykuroda 0:13a5d365ba16 16 *
ykuroda 0:13a5d365ba16 17 * \class Scaling
ykuroda 0:13a5d365ba16 18 *
ykuroda 0:13a5d365ba16 19 * \brief Represents a generic uniform scaling transformation
ykuroda 0:13a5d365ba16 20 *
ykuroda 0:13a5d365ba16 21 * \param _Scalar the scalar type, i.e., the type of the coefficients.
ykuroda 0:13a5d365ba16 22 *
ykuroda 0:13a5d365ba16 23 * This class represent a uniform scaling transformation. It is the return
ykuroda 0:13a5d365ba16 24 * type of Scaling(Scalar), and most of the time this is the only way it
ykuroda 0:13a5d365ba16 25 * is used. In particular, this class is not aimed to be used to store a scaling transformation,
ykuroda 0:13a5d365ba16 26 * but rather to make easier the constructions and updates of Transform objects.
ykuroda 0:13a5d365ba16 27 *
ykuroda 0:13a5d365ba16 28 * To represent an axis aligned scaling, use the DiagonalMatrix class.
ykuroda 0:13a5d365ba16 29 *
ykuroda 0:13a5d365ba16 30 * \sa Scaling(), class DiagonalMatrix, MatrixBase::asDiagonal(), class Translation, class Transform
ykuroda 0:13a5d365ba16 31 */
ykuroda 0:13a5d365ba16 32 template<typename _Scalar>
ykuroda 0:13a5d365ba16 33 class UniformScaling
ykuroda 0:13a5d365ba16 34 {
ykuroda 0:13a5d365ba16 35 public:
ykuroda 0:13a5d365ba16 36 /** the scalar type of the coefficients */
ykuroda 0:13a5d365ba16 37 typedef _Scalar Scalar;
ykuroda 0:13a5d365ba16 38
ykuroda 0:13a5d365ba16 39 protected:
ykuroda 0:13a5d365ba16 40
ykuroda 0:13a5d365ba16 41 Scalar m_factor;
ykuroda 0:13a5d365ba16 42
ykuroda 0:13a5d365ba16 43 public:
ykuroda 0:13a5d365ba16 44
ykuroda 0:13a5d365ba16 45 /** Default constructor without initialization. */
ykuroda 0:13a5d365ba16 46 UniformScaling() {}
ykuroda 0:13a5d365ba16 47 /** Constructs and initialize a uniform scaling transformation */
ykuroda 0:13a5d365ba16 48 explicit inline UniformScaling(const Scalar& s) : m_factor(s) {}
ykuroda 0:13a5d365ba16 49
ykuroda 0:13a5d365ba16 50 inline const Scalar& factor() const { return m_factor; }
ykuroda 0:13a5d365ba16 51 inline Scalar& factor() { return m_factor; }
ykuroda 0:13a5d365ba16 52
ykuroda 0:13a5d365ba16 53 /** Concatenates two uniform scaling */
ykuroda 0:13a5d365ba16 54 inline UniformScaling operator* (const UniformScaling& other) const
ykuroda 0:13a5d365ba16 55 { return UniformScaling(m_factor * other.factor()); }
ykuroda 0:13a5d365ba16 56
ykuroda 0:13a5d365ba16 57 /** Concatenates a uniform scaling and a translation */
ykuroda 0:13a5d365ba16 58 template<int Dim>
ykuroda 0:13a5d365ba16 59 inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const;
ykuroda 0:13a5d365ba16 60
ykuroda 0:13a5d365ba16 61 /** Concatenates a uniform scaling and an affine transformation */
ykuroda 0:13a5d365ba16 62 template<int Dim, int Mode, int Options>
ykuroda 0:13a5d365ba16 63 inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
ykuroda 0:13a5d365ba16 64 {
ykuroda 0:13a5d365ba16 65 Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
ykuroda 0:13a5d365ba16 66 res.prescale(factor());
ykuroda 0:13a5d365ba16 67 return res;
ykuroda 0:13a5d365ba16 68 }
ykuroda 0:13a5d365ba16 69
ykuroda 0:13a5d365ba16 70 /** Concatenates a uniform scaling and a linear transformation matrix */
ykuroda 0:13a5d365ba16 71 // TODO returns an expression
ykuroda 0:13a5d365ba16 72 template<typename Derived>
ykuroda 0:13a5d365ba16 73 inline typename internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const
ykuroda 0:13a5d365ba16 74 { return other * m_factor; }
ykuroda 0:13a5d365ba16 75
ykuroda 0:13a5d365ba16 76 template<typename Derived,int Dim>
ykuroda 0:13a5d365ba16 77 inline Matrix<Scalar,Dim,Dim> operator*(const RotationBase<Derived,Dim>& r) const
ykuroda 0:13a5d365ba16 78 { return r.toRotationMatrix() * m_factor; }
ykuroda 0:13a5d365ba16 79
ykuroda 0:13a5d365ba16 80 /** \returns the inverse scaling */
ykuroda 0:13a5d365ba16 81 inline UniformScaling inverse() const
ykuroda 0:13a5d365ba16 82 { return UniformScaling(Scalar(1)/m_factor); }
ykuroda 0:13a5d365ba16 83
ykuroda 0:13a5d365ba16 84 /** \returns \c *this with scalar type casted to \a NewScalarType
ykuroda 0:13a5d365ba16 85 *
ykuroda 0:13a5d365ba16 86 * Note that if \a NewScalarType is equal to the current scalar type of \c *this
ykuroda 0:13a5d365ba16 87 * then this function smartly returns a const reference to \c *this.
ykuroda 0:13a5d365ba16 88 */
ykuroda 0:13a5d365ba16 89 template<typename NewScalarType>
ykuroda 0:13a5d365ba16 90 inline UniformScaling<NewScalarType> cast() const
ykuroda 0:13a5d365ba16 91 { return UniformScaling<NewScalarType>(NewScalarType(m_factor)); }
ykuroda 0:13a5d365ba16 92
ykuroda 0:13a5d365ba16 93 /** Copy constructor with scalar type conversion */
ykuroda 0:13a5d365ba16 94 template<typename OtherScalarType>
ykuroda 0:13a5d365ba16 95 inline explicit UniformScaling(const UniformScaling<OtherScalarType>& other)
ykuroda 0:13a5d365ba16 96 { m_factor = Scalar(other.factor()); }
ykuroda 0:13a5d365ba16 97
ykuroda 0:13a5d365ba16 98 /** \returns \c true if \c *this is approximately equal to \a other, within the precision
ykuroda 0:13a5d365ba16 99 * determined by \a prec.
ykuroda 0:13a5d365ba16 100 *
ykuroda 0:13a5d365ba16 101 * \sa MatrixBase::isApprox() */
ykuroda 0:13a5d365ba16 102 bool isApprox(const UniformScaling& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
ykuroda 0:13a5d365ba16 103 { return internal::isApprox(m_factor, other.factor(), prec); }
ykuroda 0:13a5d365ba16 104
ykuroda 0:13a5d365ba16 105 };
ykuroda 0:13a5d365ba16 106
ykuroda 0:13a5d365ba16 107 /** Concatenates a linear transformation matrix and a uniform scaling */
ykuroda 0:13a5d365ba16 108 // NOTE this operator is defiend in MatrixBase and not as a friend function
ykuroda 0:13a5d365ba16 109 // of UniformScaling to fix an internal crash of Intel's ICC
ykuroda 0:13a5d365ba16 110 template<typename Derived> typename MatrixBase<Derived>::ScalarMultipleReturnType
ykuroda 0:13a5d365ba16 111 MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
ykuroda 0:13a5d365ba16 112 { return derived() * s.factor(); }
ykuroda 0:13a5d365ba16 113
ykuroda 0:13a5d365ba16 114 /** Constructs a uniform scaling from scale factor \a s */
ykuroda 0:13a5d365ba16 115 static inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
ykuroda 0:13a5d365ba16 116 /** Constructs a uniform scaling from scale factor \a s */
ykuroda 0:13a5d365ba16 117 static inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
ykuroda 0:13a5d365ba16 118 /** Constructs a uniform scaling from scale factor \a s */
ykuroda 0:13a5d365ba16 119 template<typename RealScalar>
ykuroda 0:13a5d365ba16 120 static inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
ykuroda 0:13a5d365ba16 121 { return UniformScaling<std::complex<RealScalar> >(s); }
ykuroda 0:13a5d365ba16 122
ykuroda 0:13a5d365ba16 123 /** Constructs a 2D axis aligned scaling */
ykuroda 0:13a5d365ba16 124 template<typename Scalar>
ykuroda 0:13a5d365ba16 125 static inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
ykuroda 0:13a5d365ba16 126 { return DiagonalMatrix<Scalar,2>(sx, sy); }
ykuroda 0:13a5d365ba16 127 /** Constructs a 3D axis aligned scaling */
ykuroda 0:13a5d365ba16 128 template<typename Scalar>
ykuroda 0:13a5d365ba16 129 static inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
ykuroda 0:13a5d365ba16 130 { return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
ykuroda 0:13a5d365ba16 131
ykuroda 0:13a5d365ba16 132 /** Constructs an axis aligned scaling expression from vector expression \a coeffs
ykuroda 0:13a5d365ba16 133 * This is an alias for coeffs.asDiagonal()
ykuroda 0:13a5d365ba16 134 */
ykuroda 0:13a5d365ba16 135 template<typename Derived>
ykuroda 0:13a5d365ba16 136 static inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
ykuroda 0:13a5d365ba16 137 { return coeffs.asDiagonal(); }
ykuroda 0:13a5d365ba16 138
ykuroda 0:13a5d365ba16 139 /** \addtogroup Geometry_Module */
ykuroda 0:13a5d365ba16 140 //@{
ykuroda 0:13a5d365ba16 141 /** \deprecated */
ykuroda 0:13a5d365ba16 142 typedef DiagonalMatrix<float, 2> AlignedScaling2f;
ykuroda 0:13a5d365ba16 143 /** \deprecated */
ykuroda 0:13a5d365ba16 144 typedef DiagonalMatrix<double,2> AlignedScaling2d;
ykuroda 0:13a5d365ba16 145 /** \deprecated */
ykuroda 0:13a5d365ba16 146 typedef DiagonalMatrix<float, 3> AlignedScaling3f;
ykuroda 0:13a5d365ba16 147 /** \deprecated */
ykuroda 0:13a5d365ba16 148 typedef DiagonalMatrix<double,3> AlignedScaling3d;
ykuroda 0:13a5d365ba16 149 //@}
ykuroda 0:13a5d365ba16 150
ykuroda 0:13a5d365ba16 151 template<typename Scalar>
ykuroda 0:13a5d365ba16 152 template<int Dim>
ykuroda 0:13a5d365ba16 153 inline Transform<Scalar,Dim,Affine>
ykuroda 0:13a5d365ba16 154 UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
ykuroda 0:13a5d365ba16 155 {
ykuroda 0:13a5d365ba16 156 Transform<Scalar,Dim,Affine> res;
ykuroda 0:13a5d365ba16 157 res.matrix().setZero();
ykuroda 0:13a5d365ba16 158 res.linear().diagonal().fill(factor());
ykuroda 0:13a5d365ba16 159 res.translation() = factor() * t.vector();
ykuroda 0:13a5d365ba16 160 res(Dim,Dim) = Scalar(1);
ykuroda 0:13a5d365ba16 161 return res;
ykuroda 0:13a5d365ba16 162 }
ykuroda 0:13a5d365ba16 163
ykuroda 0:13a5d365ba16 164 } // end namespace Eigen
ykuroda 0:13a5d365ba16 165
ykuroda 0:13a5d365ba16 166 #endif // EIGEN_SCALING_H