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 _Scalar	Scalar
typedef Matrix< Scalar, HDim, HDim >	MatrixType
typedef Matrix< Scalar, Dim, Dim >	LinearMatrixType
typedef Block< MatrixType, Dim, Dim >	LinearPart
typedef const Block< const MatrixType, Dim, Dim >	ConstLinearPart
typedef Matrix< Scalar, Dim, 1 >	VectorType
typedef Block< MatrixType, Dim, 1 >	TranslationPart
typedef const Block< const MatrixType, Dim, 1 >	ConstTranslationPart
typedef Translation< Scalar, Dim >	TranslationType
typedef Scaling< Scalar, Dim >	ScalingType
typedef _Scalar	Scalar
typedef DenseIndex	Index
typedef Matrix< Scalar, Rows, HDim, Options >	MatrixType
typedef const MatrixType	ConstMatrixType
typedef Matrix< Scalar, Dim, Dim, Options >	LinearMatrixType
typedef Block< MatrixType, Dim, Dim >	LinearPart
typedef const Block < ConstMatrixType, Dim, Dim >	ConstLinearPart
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 Matrix< Scalar, Dim, 1 >	VectorType
typedef Block< MatrixType, Dim, 1 >	TranslationPart
typedef const Block < ConstMatrixType, Dim, 1 >	ConstTranslationPart
typedef Translation< Scalar, Dim >	TranslationType
typedef Transform< Scalar, Dim, TransformTimeDiagonalMode >	TransformTimeDiagonalReturnType
typedef internal::transform_take_affine_part < Transform >	take_affine_part
Public Member Functions
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE (_Scalar, _Dim==Dynamic?Dynamic:(_Dim+1)*(_Dim+1)) enum
	Transform ()
	Transform (const Transform &other)
	Transform (const TranslationType &t)
	Transform (const ScalingType &s)
template<typename Derived >
	Transform (const RotationBase< Derived, Dim > &r)
Transform &	operator= (const Transform &other)
template<typename OtherDerived >
	Transform (const MatrixBase< OtherDerived > &other)
template<typename OtherDerived >
Transform &	operator= (const MatrixBase< OtherDerived > &other)
Scalar	operator() (int row, int col) const
Scalar &	operator() (int row, int col)
const MatrixType &	matrix () const
MatrixType &	matrix ()
ConstLinearPart	linear () const
LinearPart	linear ()
ConstTranslationPart	translation () const
TranslationPart	translation ()
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
void	setIdentity ()
template<typename OtherDerived >
Transform &	scale (const MatrixBase< OtherDerived > &other)
template<typename OtherDerived >
Transform &	prescale (const MatrixBase< OtherDerived > &other)
Transform &	scale (Scalar s)
Transform &	prescale (Scalar s)
template<typename OtherDerived >
Transform &	translate (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 &	prerotate (const RotationType &rotation)
Transform &	shear (Scalar sx, Scalar sy)
Transform &	preshear (Scalar sx, Scalar sy)
Transform &	operator= (const TranslationType &t)
Transform &	operator*= (const TranslationType &t)
Transform	operator* (const TranslationType &t) const
Transform &	operator= (const ScalingType &t)
Transform &	operator*= (const ScalingType &s)
Transform	operator* (const ScalingType &s) const
template<typename Derived >
Transform &	operator= (const RotationBase< Derived, Dim > &r)
template<typename Derived >
Transform &	operator*= (const RotationBase< Derived, Dim > &r)
template<typename Derived >
Transform	operator* (const RotationBase< Derived, Dim > &r) const
LinearMatrixType	rotation () 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 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
const Scalar *	data () const
Scalar *	data ()
template<typename NewScalarType >
internal::cast_return_type < Transform, Transform < NewScalarType, Dim > >::type	cast () const
template<typename OtherScalarType >
	Transform (const Transform< OtherScalarType, Dim > &other)
bool	isApprox (const Transform &other, typename NumTraits< Scalar >::Real prec=precision< Scalar >()) const
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE (_Scalar, _Dim==Dynamic?Dynamic:(_Dim+1)*(_Dim+1)) enum
	Transform ()
	Transform (const Transform &other)
	Transform (const TranslationType &t)
	Transform (const UniformScaling< Scalar > &s)
template<typename Derived >
	Transform (const RotationBase< Derived, Dim > &r)
Transform &	operator= (const Transform &other)
template<typename OtherDerived >
	Transform (const EigenBase< OtherDerived > &other)
template<typename OtherDerived >
Transform &	operator= (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 OtherDerived >
Transform &	operator= (const ReturnByValue< OtherDerived > &other)
Scalar	operator() (Index row, Index col) const
Scalar &	operator() (Index row, Index 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 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
template<typename OtherDerived >
Transform &	operator*= (const EigenBase< OtherDerived > &other)
const Transform	operator* (const Transform &other) const
template<int OtherMode, int OtherOptions>
const internal::transform_transform_product_impl < Transform, Transform< Scalar, Dim, OtherMode, OtherOptions > >::ResultType	operator* (const Transform< Scalar, Dim, OtherMode, OtherOptions > &other) const
void	setIdentity ()
template<typename OtherDerived >
Transform &	scale (const MatrixBase< OtherDerived > &other)
template<typename OtherDerived >
Transform &	prescale (const MatrixBase< OtherDerived > &other)
Transform &	scale (Scalar s)
Transform &	prescale (Scalar s)
template<typename OtherDerived >
Transform &	translate (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 &	prerotate (const RotationType &rotation)
Transform &	shear (Scalar sx, Scalar sy)
Transform &	preshear (Scalar sx, Scalar sy)
Transform &	operator= (const TranslationType &t)
Transform &	operator*= (const TranslationType &t)
Transform	operator* (const TranslationType &t) const
Transform &	operator= (const UniformScaling< Scalar > &t)
Transform &	operator*= (const UniformScaling< Scalar > &s)
Transform	operator* (const UniformScaling< Scalar > &s) const
Transform &	operator*= (const DiagonalMatrix< Scalar, Dim > &s)
template<typename Derived >
Transform &	operator= (const RotationBase< Derived, Dim > &r)
template<typename Derived >
Transform &	operator*= (const RotationBase< Derived, Dim > &r)
template<typename Derived >
Transform	operator* (const RotationBase< Derived, Dim > &r) const
const LinearMatrixType	rotation () 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 PositionDerived , typename OrientationType , typename ScaleDerived >
Transform &	fromPositionOrientationScale (const MatrixBase< PositionDerived > &position, const OrientationType &orientation, const MatrixBase< ScaleDerived > &scale)
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)
bool	isApprox (const Transform &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const
void	makeAffine ()
Block< MatrixType, int(Mode)==int(Projective)?HDim:Dim, Dim >	linearExt ()
const Block< MatrixType, int(Mode)==int(Projective)?HDim:Dim, Dim >	linearExt () const
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 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:

$\left( \begin{array}{cc} linear & translation\\ 0 ... 0 & 1 \end{array} \right)$

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,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): $\left( \begin{array}{cc} I & t \\ 0\,...\,0 & 1 \end{array} \right)$

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

Linear Matrix L (Dim)x(Dim): $\left( \begin{array}{cc} L & 0\\ 0\,...\,0 & 1 \end{array} \right)$

Affine Matrix A (Dim)x(Dim+1): $\left( \begin{array}{c} A\\ 0\,...\,0\,1 \end{array} \right)$

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

Set of column vectors 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

Member Typedef Documentation

template<typename _Scalar, int _Dim>

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

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

template<typename _Scalar, int _Dim>

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

type of read reference to the affine part of the transformation

template<typename _Scalar, int _Dim>

typedef const Block<const MatrixType,Dim,Dim> Transform< _Scalar, _Dim >::ConstLinearPart

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

template<typename _Scalar, int _Dim>

typedef const Block<ConstMatrixType,Dim,Dim> Transform< _Scalar, _Dim >::ConstLinearPart

type of read reference to the linear part of the transformation

template<typename _Scalar, int _Dim>

typedef const MatrixType Transform< _Scalar, _Dim >::ConstMatrixType

constified MatrixType

template<typename _Scalar, int _Dim>

typedef const Block<const MatrixType,Dim,1> Transform< _Scalar, _Dim >::ConstTranslationPart

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

template<typename _Scalar, int _Dim>

typedef const Block<ConstMatrixType,Dim,1> Transform< _Scalar, _Dim >::ConstTranslationPart

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

template<typename _Scalar, int _Dim>

typedef DenseIndex Transform< _Scalar, _Dim >::Index

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,Dim> Transform< _Scalar, _Dim >::LinearMatrixType

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

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,Dim,Options> Transform< _Scalar, _Dim >::LinearMatrixType

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

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,Dim> Transform< _Scalar, _Dim >::LinearPart

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

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,Dim> Transform< _Scalar, _Dim >::LinearPart

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

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,HDim,HDim> Transform< _Scalar, _Dim >::MatrixType

type of the matrix used to represent the transformation

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Rows,HDim,Options> Transform< _Scalar, _Dim >::MatrixType

type of the matrix used to represent the transformation

template<typename _Scalar, int _Dim>

typedef _Scalar Transform< _Scalar, _Dim >::Scalar

the scalar type of the coefficients

template<typename _Scalar, int _Dim>

typedef _Scalar Transform< _Scalar, _Dim >::Scalar

the scalar type of the coefficients

template<typename _Scalar, int _Dim>

typedef Scaling<Scalar,Dim> Transform< _Scalar, _Dim >::ScalingType

corresponding scaling transformation type

template<typename _Scalar, int _Dim>

typedef internal::transform_take_affine_part<Transform> Transform< _Scalar, _Dim >::take_affine_part

template<typename _Scalar, int _Dim>

typedef Transform<Scalar,Dim,TransformTimeDiagonalMode> Transform< _Scalar, _Dim >::TransformTimeDiagonalReturnType

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

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,1> Transform< _Scalar, _Dim >::TranslationPart

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

template<typename _Scalar, int _Dim>

typedef Block<MatrixType,Dim,1> Transform< _Scalar, _Dim >::TranslationPart

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

template<typename _Scalar, int _Dim>

typedef Translation<Scalar,Dim> Transform< _Scalar, _Dim >::TranslationType

corresponding translation type

template<typename _Scalar, int _Dim>

typedef Translation<Scalar,Dim> Transform< _Scalar, _Dim >::TranslationType

corresponding translation type

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,1> Transform< _Scalar, _Dim >::VectorType

type of a vector

template<typename _Scalar, int _Dim>

typedef Matrix<Scalar,Dim,1> Transform< _Scalar, _Dim >::VectorType

type of a vector

Member Enumeration Documentation

template<typename _Scalar, int _Dim>

anonymous enum

Enumerator:

TransformTimeDiagonalMode

Constructor & Destructor Documentation

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( ) [inline]

Default constructor without initialization of the coefficients.

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const Transform< _Scalar, _Dim > & other ) [inline]

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const TranslationType & t ) [inline, explicit]

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const ScalingType & s ) [inline, explicit]

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform< _Scalar, _Dim >::Transform ( const RotationBase< Derived, Dim > & r ) [inline, explicit]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

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.

template<typename _Scalar, int _Dim>

template<typename OtherScalarType >

Transform< _Scalar, _Dim >::Transform ( const Transform< OtherScalarType, Dim > & other ) [inline, explicit]

Copy constructor with scalar type conversion

template<typename _Scalar, int _Dim>

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]

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const Transform< _Scalar, _Dim > & other ) [inline]

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const TranslationType & t ) [inline, explicit]

template<typename _Scalar, int _Dim>

Transform< _Scalar, _Dim >::Transform ( const UniformScaling< Scalar > & s ) [inline, explicit]

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform< _Scalar, _Dim >::Transform ( const RotationBase< Derived, Dim > & r ) [inline, explicit]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

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.

template<typename _Scalar, int _Dim>

template<int OtherOptions>

Transform< _Scalar, _Dim >::Transform ( const Transform< Scalar, Dim, Mode, OtherOptions > & other ) [inline]

template<typename _Scalar, int _Dim>

template<int OtherMode, int OtherOptions>

Transform< _Scalar, _Dim >::Transform ( const Transform< Scalar, Dim, OtherMode, OtherOptions > & other ) [inline]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform< _Scalar, _Dim >::Transform ( const ReturnByValue< OtherDerived > & other ) [inline]

template<typename _Scalar, int _Dim>

template<typename OtherScalarType >

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

Copy constructor with scalar type conversion

Member Function Documentation

template<typename _Scalar, int _Dim>

ConstAffinePart Transform< _Scalar, _Dim >::affine ( ) const [inline]

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

template<typename _Scalar, int _Dim>

AffinePart Transform< _Scalar, _Dim >::affine ( ) [inline]

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

template<typename _Scalar, int _Dim>

template<typename NewScalarType >

internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type Transform< _Scalar, _Dim >::cast ( ) const [inline]

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.

template<typename _Scalar, int _Dim>

template<typename NewScalarType >

internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type Transform< _Scalar, _Dim >::cast ( ) const [inline]

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.

template<typename _Scalar, int _Dim>

static EIGEN_STRONG_INLINE void Transform< _Scalar, _Dim >::check_template_params ( ) [inline, static, protected]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename RotationMatrixType , typename ScalingMatrixType >

void 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

template<typename _Scalar, int _Dim>

template<typename RotationMatrixType , typename ScalingMatrixType >

void Transform< _Scalar, _Dim >::computeRotationScaling	(	RotationMatrixType *	rotation,
		ScalingMatrixType *	scaling
	)			const

template<typename Scalar , int Dim, int Mode, int Options>

template<typename ScalingMatrixType , typename RotationMatrixType >

void 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

template<typename _Scalar, int _Dim>

template<typename ScalingMatrixType , typename RotationMatrixType >

void Transform< _Scalar, _Dim >::computeScalingRotation	(	ScalingMatrixType *	scaling,
		RotationMatrixType *	rotation
	)			const

template<typename _Scalar, int _Dim>

const Scalar* Transform< _Scalar, _Dim >::data ( ) const [inline]

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

template<typename _Scalar, int _Dim>

Scalar* Transform< _Scalar, _Dim >::data ( ) [inline]

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

template<typename _Scalar, int _Dim>

Scalar* Transform< _Scalar, _Dim >::data ( ) [inline]

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

template<typename _Scalar, int _Dim>

const Scalar* Transform< _Scalar, _Dim >::data ( ) const [inline]

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

template<typename _Scalar, int _Dim>

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

template<typename _Scalar, int _Dim>

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

template<typename Scalar , int Dim, int Mode, int Options>

template<typename PositionDerived , typename OrientationType , typename ScaleDerived >

Transform< Scalar, Dim, Mode, Options > & 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.

template<typename _Scalar, int _Dim>

template<typename PositionDerived , typename OrientationType , typename ScaleDerived >

Transform& Transform< _Scalar, _Dim >::fromPositionOrientationScale	(	const MatrixBase< PositionDerived > &	position,
		const OrientationType &	orientation,
		const MatrixBase< ScaleDerived > &	scale
	)

template<typename _Scalar, int _Dim>

static const Transform Transform< _Scalar, _Dim >::Identity ( ) [inline, static]

Returns an identity transformation.

Todo:: In the future this function should be returning a Transform expression.

template<typename _Scalar, int _Dim>

static const MatrixType::IdentityReturnType Transform< _Scalar, _Dim >::Identity ( ) [inline, static]

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > 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()

template<typename _Scalar, int _Dim>

Transform Transform< _Scalar, _Dim >::inverse ( TransformTraits traits = (TransformTraits) Mode ) const [inline]

template<typename _Scalar, int _Dim>

bool Transform< _Scalar, _Dim >::isApprox	(	const Transform< _Scalar, _Dim > &	other,
		typename NumTraits< Scalar >::Real	prec = `precision<Scalar>()`
	)			const `[inline]`

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

See also:: MatrixBase::isApprox()

template<typename _Scalar, int _Dim>

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

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

See also:: MatrixBase::isApprox()

template<typename _Scalar, int _Dim>

LinearPart Transform< _Scalar, _Dim >::linear ( ) [inline]

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

template<typename _Scalar, int _Dim>

ConstLinearPart Transform< _Scalar, _Dim >::linear ( ) const [inline]

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

template<typename _Scalar, int _Dim>

ConstLinearPart Transform< _Scalar, _Dim >::linear ( ) const [inline]

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

template<typename _Scalar, int _Dim>

LinearPart Transform< _Scalar, _Dim >::linear ( ) [inline]

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

template<typename _Scalar, int _Dim>

Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> Transform< _Scalar, _Dim >::linearExt ( ) [inline]

template<typename _Scalar, int _Dim>

const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> Transform< _Scalar, _Dim >::linearExt ( ) const [inline]

template<typename _Scalar, int _Dim>

void Transform< _Scalar, _Dim >::makeAffine ( ) [inline]

Sets the last row to [0 ... 0 1]

template<typename _Scalar, int _Dim>

MatrixType& Transform< _Scalar, _Dim >::matrix ( ) [inline]

Returns:: a writable expression of the transformation matrix

template<typename _Scalar, int _Dim>

const MatrixType& Transform< _Scalar, _Dim >::matrix ( ) const [inline]

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

template<typename _Scalar, int _Dim>

const MatrixType& Transform< _Scalar, _Dim >::matrix ( ) const [inline]

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

template<typename _Scalar, int _Dim>

MatrixType& Transform< _Scalar, _Dim >::matrix ( ) [inline]

Returns:: a writable expression of the transformation matrix

template<typename _Scalar, int _Dim>

Scalar Transform< _Scalar, _Dim >::operator()	(	int	row,
		int	col
	)			const `[inline]`

shortcut for m_matrix(row,col);

See also:: MatrixBase::operaror(int,int) const

template<typename _Scalar, int _Dim>

Scalar& Transform< _Scalar, _Dim >::operator()	(	int	row,
		int	col
	)			`[inline]`

shortcut for m_matrix(row,col);

See also:: MatrixBase::operaror(int,int)

template<typename _Scalar, int _Dim>

Scalar Transform< _Scalar, _Dim >::operator()	(	Index	row,
		Index	col
	)			const `[inline]`

shortcut for m_matrix(row,col);

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

template<typename _Scalar, int _Dim>

Scalar& Transform< _Scalar, _Dim >::operator()	(	Index	row,
		Index	col
	)			`[inline]`

shortcut for m_matrix(row,col);

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

template<typename _Scalar, int _Dim>

template<int OtherMode, int OtherOptions>

const internal::transform_transform_product_impl< Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType Transform< _Scalar, _Dim >::operator* ( const Transform< Scalar, Dim, OtherMode, OtherOptions > & other ) const [inline]

Concatenates two different transformations

template<typename Scalar , int Dim, int Mode, int Options>

template<typename Derived >

Transform< Scalar, Dim, Mode, Options > Transform< Scalar, Dim, Mode, Options >::operator* ( const RotationBase< Derived, Dim > & r ) const [inline]

template<typename _Scalar, int _Dim>

Transform Transform< _Scalar, _Dim >::operator* ( const TranslationType & t ) const [inline]

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > Transform< Scalar, Dim, Mode, Options >::operator* ( const UniformScaling< Scalar > & s ) const [inline]

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform Transform< _Scalar, _Dim >::operator* ( const RotationBase< Derived, Dim > & r ) const [inline]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

const ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType Transform< _Scalar, _Dim >::operator* ( const MatrixBase< OtherDerived > & other ) const [inline]

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

template<typename _Scalar, int _Dim>

const Transform Transform< _Scalar, _Dim >::operator* ( const Transform< _Scalar, _Dim > & other ) const [inline]

Contatenates two transformations

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > Transform< Scalar, Dim, Mode, Options >::operator* ( const TranslationType & t ) const [inline]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

EIGEN_STRONG_INLINE const internal::transform_right_product_impl<Transform, OtherDerived>::ResultType Transform< _Scalar, _Dim >::operator* ( const EigenBase< OtherDerived > & other ) const [inline]

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

template<typename _Scalar, int _Dim>

template<typename DiagonalDerived >

const TransformTimeDiagonalReturnType 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.

template<typename _Scalar, int _Dim>

const Transform Transform< _Scalar, _Dim >::operator* ( const Transform< _Scalar, _Dim > & other ) const [inline]

Concatenates two transformations

template<typename Scalar , int Dim>

Transform< Scalar, Dim > Transform< Scalar, Dim >::operator* ( const ScalingType & s ) const [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const ScalingType & s ) [inline]

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform& Transform< _Scalar, _Dim >::operator*= ( const RotationBase< Derived, Dim > & r ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const TranslationType & t ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const UniformScaling< Scalar > & s ) [inline]

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform& Transform< _Scalar, _Dim >::operator*= ( const RotationBase< Derived, Dim > & r ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const DiagonalMatrix< Scalar, Dim > & s ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator*= ( const TranslationType & t ) [inline]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator*= ( const EigenBase< OtherDerived > & other ) [inline]

template<typename Scalar , int Dim>

Transform< Scalar, Dim > & Transform< Scalar, Dim >::operator= ( const ScalingType & t ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator= ( const Transform< _Scalar, _Dim > & other ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename Derived >

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::operator= ( const RotationBase< Derived, Dim > & r ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::operator= ( const UniformScaling< Scalar > & t ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator= ( const TranslationType & t ) [inline]

template<typename _Scalar, int _Dim>

template<typename Derived >

Transform& Transform< _Scalar, _Dim >::operator= ( const RotationBase< Derived, Dim > & r ) [inline]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator= ( const ReturnByValue< OtherDerived > & other ) [inline]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator= ( const EigenBase< OtherDerived > & other ) [inline]

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

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::operator= ( const Transform< _Scalar, _Dim > & other ) [inline]

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::operator= ( const MatrixBase< OtherDerived > & other ) [inline]

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

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & Transform< Scalar, Dim, Mode, Options >::operator= ( const TranslationType & t ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename RotationType >

Transform< Scalar, Dim, Mode, Options > & 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()

template<typename _Scalar, int _Dim>

template<typename RotationType >

Transform& Transform< _Scalar, _Dim >::prerotate ( const RotationType & rotation ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & 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()

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::prescale ( Scalar s ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & 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)

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::prescale ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::preshear	(	Scalar	sx,
		Scalar	sy
	)

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & 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()

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::pretranslate ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & 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()

template<typename Scalar , int Dim, int Mode, int Options>

template<typename RotationType >

Transform< Scalar, Dim, Mode, Options > & 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)

template<typename _Scalar, int _Dim>

template<typename RotationType >

Transform& Transform< _Scalar, _Dim >::rotate ( const RotationType & rotation ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

const Transform< Scalar, Dim, Mode, Options >::LinearMatrixType 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

template<typename _Scalar, int _Dim>

const LinearMatrixType Transform< _Scalar, _Dim >::rotation ( ) const

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::scale ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::scale ( Scalar s ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & 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()

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & 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)

template<typename _Scalar, int _Dim>

void Transform< _Scalar, _Dim >::setIdentity ( ) [inline]

See also:: MatrixBase::setIdentity()

template<typename _Scalar, int _Dim>

void Transform< _Scalar, _Dim >::setIdentity ( ) [inline]

See also:: MatrixBase::setIdentity()

template<typename _Scalar, int _Dim>

Transform& Transform< _Scalar, _Dim >::shear	(	Scalar	sx,
		Scalar	sy
	)

template<typename Scalar , int Dim, int Mode, int Options>

Transform< Scalar, Dim, Mode, Options > & 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()

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

Transform& Transform< _Scalar, _Dim >::translate ( const MatrixBase< OtherDerived > & other ) [inline]

template<typename Scalar , int Dim, int Mode, int Options>

template<typename OtherDerived >

Transform< Scalar, Dim, Mode, Options > & 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()

template<typename _Scalar, int _Dim>

TranslationPart Transform< _Scalar, _Dim >::translation ( ) [inline]

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

template<typename _Scalar, int _Dim>

ConstTranslationPart Transform< _Scalar, _Dim >::translation ( ) const [inline]

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

template<typename _Scalar, int _Dim>

TranslationPart Transform< _Scalar, _Dim >::translation ( ) [inline]

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

template<typename _Scalar, int _Dim>

ConstTranslationPart Transform< _Scalar, _Dim >::translation ( ) const [inline]

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

template<typename _Scalar, int _Dim>

const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> Transform< _Scalar, _Dim >::translationExt ( ) const [inline]

template<typename _Scalar, int _Dim>

Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> Transform< _Scalar, _Dim >::translationExt ( ) [inline]

Friends And Related Function Documentation

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

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.

template<typename _Scalar, int _Dim>

template<typename DiagonalDerived >

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.

template<typename _Scalar, int _Dim>

template<typename OtherDerived >

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.

template<typename _Scalar, int _Dim>

Transform operator*	(	const LinearMatrixType &	mat,
		const Transform< _Scalar, _Dim > &	t
	)			`[friend]`

Member Data Documentation

template<typename _Scalar, int _Dim>

MatrixType Transform< _Scalar, _Dim >::m_matrix [protected]

The documentation for this class was generated from the following files:

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/geometry/Eigen/src/Eigen2Support/Geometry/Transform.h
/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/geometry/Eigen/src/Geometry/Transform.h

Transform< _Scalar, _Dim > Class Template Reference [Geometry_Module]

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename _Scalar, int _Dim> class Transform< _Scalar, _Dim >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

Transform< _Scalar, _Dim > Class Template Reference
[Geometry_Module]

template<typename _Scalar, int _Dim>
class Transform< _Scalar, _Dim >