10 #ifndef EIGEN_TRANSLATION_H
11 #define EIGEN_TRANSLATION_H
13 #include "./InternalHeaderCheck.h"
31 template<
typename Scalar_,
int Dim_>
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,Dim_)
76 EIGEN_DEVICE_FUNC
inline Scalar x()
const {
return m_coeffs.x(); }
78 EIGEN_DEVICE_FUNC
inline Scalar y()
const {
return m_coeffs.y(); }
80 EIGEN_DEVICE_FUNC
inline Scalar z()
const {
return m_coeffs.z(); }
83 EIGEN_DEVICE_FUNC
inline Scalar&
x() {
return m_coeffs.x(); }
85 EIGEN_DEVICE_FUNC
inline Scalar&
y() {
return m_coeffs.y(); }
87 EIGEN_DEVICE_FUNC
inline Scalar&
z() {
return m_coeffs.z(); }
89 EIGEN_DEVICE_FUNC
const VectorType& vector()
const {
return m_coeffs; }
90 EIGEN_DEVICE_FUNC
VectorType& vector() {
return m_coeffs; }
92 EIGEN_DEVICE_FUNC
const VectorType& translation()
const {
return m_coeffs; }
93 EIGEN_DEVICE_FUNC
VectorType& translation() {
return m_coeffs; }
103 template<
typename OtherDerived>
107 template<
typename Derived>
113 template<
typename OtherDerived>
friend
126 template<
int Mode,
int Options>
130 res.pretranslate(m_coeffs);
135 template<
typename Derived>
136 inline std::enable_if_t<Derived::IsVectorAtCompileTime,VectorType>
138 {
return m_coeffs + vec.
derived(); }
150 template<
typename NewScalarType>
151 EIGEN_DEVICE_FUNC
inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type
cast()
const
152 {
return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*
this); }
155 template<
typename OtherScalarType>
157 { m_coeffs = other.vector().template cast<Scalar>(); }
164 {
return m_coeffs.isApprox(other.m_coeffs, prec); }
170 typedef Translation<float, 2> Translation2f;
171 typedef Translation<double,2> Translation2d;
172 typedef Translation<float, 3> Translation3f;
173 typedef Translation<double,3> Translation3d;
176 template<
typename Scalar,
int Dim>
182 res.
linear().diagonal().fill(other.factor());
188 template<
typename Scalar,
int Dim>
189 template<
typename OtherDerived>
Derived & derived()
Definition: EigenBase.h:48
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:52
Derived & setZero(Index size)
Definition: CwiseNullaryOp.h:564
Common base class for compact rotation representations.
Definition: RotationBase.h:32
Represents a translation transformation.
Definition: Translation.h:33
Matrix< Scalar, Dim, 1 > VectorType
Definition: Translation.h:41
Translation(const VectorType &vector)
Definition: Translation.h:73
Scalar z() const
Returns the z-translation by value.
Definition: Translation.h:80
Translation operator*(const Translation &other) const
Definition: Translation.h:96
Scalar & x()
Returns the x-translation as a reference.
Definition: Translation.h:83
Matrix< Scalar, Dim, Dim > LinearMatrixType
Definition: Translation.h:43
Transform< Scalar, Dim, Isometry > IsometryTransformType
Definition: Translation.h:47
Transform< Scalar, Dim, Affine > AffineTransformType
Definition: Translation.h:45
internal::cast_return_type< Translation, Translation< NewScalarType, Dim > >::type cast() const
Definition: Translation.h:151
IsometryTransformType operator*(const RotationBase< Derived, Dim > &r) const
Definition: Translation.h:108
bool isApprox(const Translation &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: Translation.h:163
Scalar & z()
Returns the z-translation as a reference.
Definition: Translation.h:87
Scalar_ Scalar
Definition: Translation.h:39
friend AffineTransformType operator*(const EigenBase< OtherDerived > &linear, const Translation &t)
Definition: Translation.h:114
Translation()
Definition: Translation.h:56
Scalar x() const
Returns the x-translation by value.
Definition: Translation.h:76
Scalar y() const
Returns the y-translation by value.
Definition: Translation.h:78
Translation(const Translation< OtherScalarType, Dim > &other)
Definition: Translation.h:156
Translation inverse() const
Definition: Translation.h:141
Scalar & y()
Returns the y-translation as a reference.
Definition: Translation.h:85
Namespace containing all symbols from the Eigen library.
Definition: Core:139
Definition: EigenBase.h:32
Derived & derived()
Definition: EigenBase.h:48
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Definition: NumTraits.h:231