#include <Transform.h>

Public Types
typedef _Scalar	Scalar
	the scalar type of the coefficients
typedef internal::make_proper_matrix_type < Scalar, Rows, HDim, Options > ::type	MatrixType
	type of the matrix used to represent the transformation
typedef const MatrixType	ConstMatrixType
	constified MatrixType
typedef Matrix< Scalar, Dim, Dim, Options >	LinearMatrixType
	type of the matrix used to represent the linear part of the transformation
typedef Block< MatrixType, Dim, Dim, int(Mode)==(AffineCompact)&&(Options &RowMajor)==0 >	LinearPart
	type of read/write reference to the linear part of the transformation
typedef const Block < ConstMatrixType, Dim, Dim, int(Mode)==(AffineCompact)&&(Options &RowMajor)==0 >	ConstLinearPart
	type of read reference to the linear part of the transformation
typedef internal::conditional < int(Mode)==int(AffineCompact), MatrixType &, Block < MatrixType, Dim, HDim > >::type	AffinePart
	type of read/write reference to the affine part of the transformation
typedef internal::conditional < int(Mode)==int(AffineCompact), const MatrixType &, const Block< const MatrixType, Dim, HDim > >::type	ConstAffinePart
	type of read reference to the affine part of the transformation
typedef Matrix< Scalar, Dim, 1 >	VectorType
	type of a vector
typedef Block< MatrixType, Dim, 1, int(Mode)==(AffineCompact)>	TranslationPart
	type of a read/write reference to the translation part of the rotation
typedef const Block < ConstMatrixType, Dim, 1, int(Mode)==(AffineCompact)>	ConstTranslationPart
	type of a read reference to the translation part of the rotation
typedef Translation< Scalar, Dim >	TranslationType
	corresponding translation type
typedef Transform< Scalar, Dim, TransformTimeDiagonalMode >	TransformTimeDiagonalReturnType
	The return type of the product between a diagonal matrix and a transform.
Public Member Functions
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE (_Scalar, _Dim==Dynamic?Dynamic:(_Dim+1)*(_Dim+1)) enum
	Transform ()
	Default constructor without initialization of the meaningful coefficients.
template<typename OtherDerived >
	Transform (const EigenBase< OtherDerived > &other)
	Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix.
template<typename OtherDerived >
Transform &	operator= (const EigenBase< OtherDerived > &other)
	Set `*this` from a Dim^2 or (Dim+1)^2 matrix.
	Transform (const QMatrix &other)
	Initializes `*this` from a QMatrix assuming the dimension is 2.
Transform &	operator= (const QMatrix &other)
	Set `*this` from a QMatrix assuming the dimension is 2.
QMatrix	toQMatrix (void) const
	Transform (const QTransform &other)
	Initializes `*this` from a QTransform assuming the dimension is 2.
Transform &	operator= (const QTransform &other)
	Set `*this` from a QTransform assuming the dimension is 2.
QTransform	toQTransform (void) const
Scalar	operator() (Index row, Index col) const
	shortcut for m_matrix(row,col);
Scalar &	operator() (Index row, Index col)
	shortcut for m_matrix(row,col);
const MatrixType &	matrix () const
MatrixType &	matrix ()
ConstLinearPart	linear () const
LinearPart	linear ()
ConstAffinePart	affine () const
AffinePart	affine ()
ConstTranslationPart	translation () const
TranslationPart	translation ()
template<typename OtherDerived >
EIGEN_STRONG_INLINE const OtherDerived::PlainObject	operator* (const EigenBase< OtherDerived > &other) const
template<typename DiagonalDerived >
const TransformTimeDiagonalReturnType	operator* (const DiagonalBase< DiagonalDerived > &b) const
const Transform	operator* (const Transform &other) const
	Concatenates two transformations.
template<int OtherMode, int OtherOptions>
icc_11_workaround< OtherMode, OtherOptions >::ResultType	operator* (const Transform< Scalar, Dim, OtherMode, OtherOptions > &other) const
	Concatenates two different transformations.
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
	Concatenates two different transformations.
void	setIdentity ()
template<typename OtherDerived >
Transform &	scale (const MatrixBase< OtherDerived > &other)
	Applies on the right the non uniform scale transformation represented by the vector other to `this` and returns a reference to `this`.
template<typename OtherDerived >
Transform &	prescale (const MatrixBase< OtherDerived > &other)
	Applies on the left the non uniform scale transformation represented by the vector other to `this` and returns a reference to `this`.
Transform &	scale (const Scalar &s)
	Applies on the right a uniform scale of a factor c to `this` and returns a reference to `this`.
Transform &	prescale (const Scalar &s)
	Applies on the left a uniform scale of a factor c to `this` and returns a reference to `this`.
template<typename OtherDerived >
Transform &	translate (const MatrixBase< OtherDerived > &other)
	Applies on the right the translation matrix represented by the vector other to `this` and returns a reference to `this`.
template<typename OtherDerived >
Transform &	pretranslate (const MatrixBase< OtherDerived > &other)
	Applies on the left the translation matrix represented by the vector other to `this` and returns a reference to `this`.
template<typename RotationType >
Transform &	rotate (const RotationType &rotation)
	Applies on the right the rotation represented by the rotation rotation to `this` and returns a reference to `this`.
template<typename RotationType >
Transform &	prerotate (const RotationType &rotation)
	Applies on the left the rotation represented by the rotation rotation to `this` and returns a reference to `this`.
Transform &	shear (const Scalar &sx, const Scalar &sy)
	Applies on the right the shear transformation represented by the vector other to `this` and returns a reference to `this`.
Transform &	preshear (const Scalar &sx, const Scalar &sy)
	Applies on the left the shear transformation represented by the vector other to `this` and returns a reference to `this`.
const LinearMatrixType	rotation () const
template<typename RotationMatrixType , typename ScalingMatrixType >
void	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.
template<typename ScalingMatrixType , typename RotationMatrixType >
void	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.
template<typename PositionDerived , typename OrientationType , typename ScaleDerived >
Transform &	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.
Transform	inverse (TransformTraits traits=(TransformTraits) Mode) const
const Scalar *	data () const
Scalar *	data ()
template<typename NewScalarType >
internal::cast_return_type < Transform, Transform < NewScalarType, Dim, Mode, Options > >::type	cast () const
template<typename OtherScalarType >
	Transform (const Transform< OtherScalarType, Dim, Mode, Options > &other)
	Copy constructor with scalar type conversion.
bool	isApprox (const Transform &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
void	makeAffine ()
	Sets the last row to [0 ...
Static Public Member Functions
static const Transform	Identity ()
	Returns an identity transformation.
Friends
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, int _Mode, int _Options>
class Eigen::Transform< _Scalar, _Dim, _Mode, _Options >

Represents an homogeneous transformation in a N dimensional space

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,DiagonalMatrix) 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 points, the latters are automatically promoted to homogeneous vectors before doing the matrix product. The conventions 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): $\left( \begin{array}{cc} R & 0\\ 0\,...\,0 & 1 \end{array} \right)$

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

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

Set of column points 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 TopicCustomizingEigen by defining the preprocessor symbol EIGEN_TRANSFORM_PLUGIN.

See also:: class Matrix, class Quaternion

Definition at line 184 of file Transform.h.

Member Typedef Documentation

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

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

Definition at line 211 of file Transform.h.

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

type of read reference to the affine part of the transformation

Definition at line 215 of file Transform.h.

typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> ConstLinearPart

type of read reference to the linear part of the transformation

Definition at line 207 of file Transform.h.

typedef const MatrixType ConstMatrixType

constified MatrixType

Definition at line 201 of file Transform.h.

typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart

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

Definition at line 221 of file Transform.h.

typedef Matrix<Scalar,Dim,Dim,Options> LinearMatrixType

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

Definition at line 203 of file Transform.h.

typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> LinearPart

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

Definition at line 205 of file Transform.h.

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

type of the matrix used to represent the transformation

Definition at line 199 of file Transform.h.

typedef _Scalar Scalar

the scalar type of the coefficients

Definition at line 194 of file Transform.h.

typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> TransformTimeDiagonalReturnType

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

Definition at line 228 of file Transform.h.

typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart

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

Definition at line 219 of file Transform.h.

typedef Translation<Scalar,Dim> TranslationType

corresponding translation type

Definition at line 223 of file Transform.h.

typedef Matrix<Scalar,Dim,1> VectorType

type of a vector

Definition at line 217 of file Transform.h.

Constructor & Destructor Documentation

Transform ( )

Default constructor without initialization of the meaningful coefficients.

If Mode==Affine, then the last row is set to [0 ... 0 1]

Definition at line 238 of file Transform.h.

Transform ( const EigenBase< OtherDerived > & other ) [explicit]

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

Definition at line 274 of file Transform.h.

Transform ( const QMatrix & other )

Initializes *this from a QMatrix assuming the dimension is 2.

This function is available only if the token EIGEN_QT_SUPPORT is defined.

Definition at line 704 of file Transform.h.

Transform ( const QTransform< _Scalar, _Dim, _Mode, _Options > & other )

Initializes *this from a QTransform assuming the dimension is 2.

This function is available only if the token EIGEN_QT_SUPPORT is defined.

Definition at line 745 of file Transform.h.

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

Copy constructor with scalar type conversion.

Definition at line 597 of file Transform.h.

Member Function Documentation

ConstAffinePart affine ( ) const

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

Definition at line 384 of file Transform.h.

AffinePart affine ( )

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

Definition at line 386 of file Transform.h.

internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast ( ) const

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 592 of file Transform.h.

void 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

Definition at line 1035 of file Transform.h.

void 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

Definition at line 1064 of file Transform.h.

Scalar* data ( )

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

Definition at line 584 of file Transform.h.

const Scalar* data ( ) const

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

Definition at line 582 of file Transform.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE	(	_Scalar	,
		_Dim	= `=Dynamic ? Dynamic : (_Dim+1)*(_Dim+1)`
	)

< space dimension in which the transformation holds

< size of a respective homogeneous vector

Definition at line 187 of file Transform.h.

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 1086 of file Transform.h.

static const Transform Identity ( ) [static]

Returns an identity transformation.

Definition at line 518 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > inverse ( TransformTraits hint = (TransformTraits)Mode ) const

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 1158 of file Transform.h.

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

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

See also:: MatrixBase::isApprox()

Definition at line 607 of file Transform.h.

ConstLinearPart linear ( ) const

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

Definition at line 379 of file Transform.h.

LinearPart linear ( )

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

Definition at line 381 of file Transform.h.

void makeAffine ( )

Sets the last row to [0 ...

0 1]

Definition at line 612 of file Transform.h.

const MatrixType& matrix ( ) const

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

Definition at line 374 of file Transform.h.

MatrixType& matrix ( )

Returns:: a writable expression of the transformation matrix

Definition at line 376 of file Transform.h.

Scalar operator()	(	Index	row,
		Index	col
	)		const

shortcut for m_matrix(row,col);

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

Definition at line 368 of file Transform.h.

Scalar& operator()	(	Index	row,
		Index	col
	)

shortcut for m_matrix(row,col);

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

Definition at line 371 of file Transform.h.

EIGEN_STRONG_INLINE const OtherDerived::PlainObject operator* ( const EigenBase< OtherDerived > & other ) const

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

The right-hand-side other can be either:

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

Moreover, if *this represents an affine transformation (i.e., Mode!=Projective), then other can also be:

a point of size Dim (computes:

 this->linear () * other + this->translation ()

),

a set of N points as a Dim x N matrix (computes:

 (this->linear () * other).colwise() + this->translation ()

),

In all cases, the return type is a matrix or vector of same sizes as the right-hand-side other.

If you want to interpret other as a linear or affine transformation, then first convert it to a Transform<> type, or do your own cooking.

Finally, if you want to apply Affine transformations to vectors, then explicitly apply the linear part only:

 Affine3f A;
 Vector3f v1, v2;
 v2 = A.linear() * v1;

Definition at line 420 of file Transform.h.

const TransformTimeDiagonalReturnType operator* ( const DiagonalBase< DiagonalDerived > & b ) const

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 443 of file Transform.h.

const Transform operator* ( const Transform< _Scalar, _Dim, _Mode, _Options > & other ) const

Concatenates two transformations.

Definition at line 472 of file Transform.h.

icc_11_workaround<OtherMode,OtherOptions>::ResultType operator* ( const Transform< Scalar, Dim, OtherMode, OtherOptions > & other ) const

Concatenates two different transformations.

Definition at line 496 of file Transform.h.

internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType operator* ( const Transform< Scalar, Dim, OtherMode, OtherOptions > & other ) const

Concatenates two different transformations.

Definition at line 505 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & operator= ( const QMatrix & other )

Set *this from a QMatrix assuming the dimension is 2.

This function is available only if the token EIGEN_QT_SUPPORT is defined.

Definition at line 715 of file Transform.h.

Transform& operator= ( const EigenBase< OtherDerived > & other )

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

Definition at line 285 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & operator= ( const QTransform< _Scalar, _Dim, _Mode, _Options > & other )

Set *this from a QTransform assuming the dimension is 2.

This function is available only if the token EIGEN_QT_SUPPORT is defined.

Definition at line 756 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & prerotate ( const RotationType & rotation )

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 914 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & prescale ( const Scalar & s )

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 840 of file Transform.h.

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

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 827 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & preshear	(	const Scalar &	sx,
		const 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 944 of file Transform.h.

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

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 868 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & rotate ( const RotationType & rotation )

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 898 of file Transform.h.

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

Returns:: the rotation part of the transformation

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

Definition at line 1014 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & scale ( const Scalar & s )

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 813 of file Transform.h.

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

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 800 of file Transform.h.

void setIdentity ( )

See also:: MatrixBase::setIdentity()

Definition at line 512 of file Transform.h.

Transform< Scalar, Dim, Mode, Options > & shear	(	const Scalar &	sx,
		const 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 928 of file Transform.h.

QMatrix toQMatrix ( void ) const

Returns:: a QMatrix from *this assuming the dimension is 2.

Warning:: this conversion might loss data if *this is not affine

This function is available only if the token EIGEN_QT_SUPPORT is defined.

Definition at line 731 of file Transform.h.

QTransform toQTransform ( void ) const

Returns:: a QTransform from *this assuming the dimension is 2.

This function is available only if the token EIGEN_QT_SUPPORT is defined.

Definition at line 775 of file Transform.h.

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

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 854 of file Transform.h.

TranslationPart translation ( )

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

Definition at line 391 of file Transform.h.

ConstTranslationPart translation ( ) const

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

Definition at line 389 of file Transform.h.

Friends And Related Function Documentation

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

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

The left hand side other can 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 432 of file Transform.h.

TransformTimeDiagonalReturnType operator*	(	const DiagonalBase< DiagonalDerived > &	a,
		const Transform< _Scalar, _Dim, _Mode, _Options > &	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 458 of file Transform.h.

Type:	Library
Created:	13 Oct 2016
Imports:	256
Forks:	0
Commits:	1
Dependents:	31
Dependencies:	0
Followers:	8

Transform< _Scalar, _Dim, _Mode, _Options > Class Template Reference
[Geometry module]

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

template<typename _Scalar, int _Dim, int _Mode, int _Options>
class Eigen::Transform< _Scalar, _Dim, _Mode, _Options >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

Transform< _Scalar, _Dim, _Mode, _Options > Class Template Reference [Geometry module]

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

template<typename _Scalar, int _Dim, int _Mode, int _Options> class Eigen::Transform< _Scalar, _Dim, _Mode, _Options >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning

Transform< _Scalar, _Dim, _Mode, _Options > Class Template Reference
[Geometry module]

template<typename _Scalar, int _Dim, int _Mode, int _Options>
class Eigen::Transform< _Scalar, _Dim, _Mode, _Options >