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Eigen::Translation< _Scalar, _Dim > Class Template Reference
Geometry_Module

Represents a translation transformation. More...

#include <Translation.h>

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List of all members.

Public Types

enum  { Dim = _Dim }
typedef _Scalar Scalar
typedef Matrix< Scalar, Dim, 1 > VectorType
typedef Matrix< Scalar, Dim, Dim > LinearMatrixType
typedef Transform< Scalar, Dim,
Affine > 		AffineTransformType
typedef Transform< Scalar, Dim,
Isometry > 		IsometryTransformType

Public Member Functions

 Translation ()
 Translation (const Scalar &sx, const Scalar &sy)
 Translation (const Scalar &sx, const Scalar &sy, const Scalar &sz)
 Translation (const VectorType &vector)
Scalar x () const
 Retruns the x-translation by value.
Scalar y () const
 Retruns the y-translation by value.
Scalar z () const
 Retruns the z-translation by value.
Scalar & x ()
 Retruns the x-translation as a reference.
Scalar & y ()
 Retruns the y-translation as a reference.
Scalar & z ()
 Retruns the z-translation as a reference.
const VectorType & vector () const
VectorType & vector ()
const VectorType & translation () const
VectorType & translation ()
Translation operator* (const Translation &other) const
AffineTransformType operator* (const UniformScaling< Scalar > &other) const
template<typename OtherDerived >
AffineTransformType operator* (const EigenBase< OtherDerived > &linear) const
template<typename Derived >
IsometryTransformType operator* (const RotationBase< Derived, Dim > &r) const
template<int Mode, int Options>
Transform< Scalar, Dim, Mode > operator* (const Transform< Scalar, Dim, Mode, Options > &t) const
VectorType operator* (const VectorType &other) const
Translation inverse () const
Translation & operator= (const Translation &other)
template<typename NewScalarType >
internal::cast_return_type
< Translation, Translation
< NewScalarType, Dim > >::type 		cast () const
template<typename OtherScalarType >
 Translation (const Translation< OtherScalarType, Dim > &other)
bool isApprox (const Translation &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const

Static Public Member Functions

static const Translation Identity ()

Protected Attributes

VectorType m_coeffs

Friends

template<typename OtherDerived >
AffineTransformType operator* (const EigenBase< OtherDerived > &linear, const Translation &t)

Detailed Description

template<typename _Scalar, int _Dim>
class Eigen::Translation< _Scalar, _Dim >

Represents a translation transformation.

Template Parameters:
_Scalarthe scalar type, i.e., the type of the coefficients.
_Dimthe dimension of the space, can be a compile time value or Dynamic
Note:
This class is not aimed to be used to store a translation transformation, but rather to make easier the constructions and updates of Transform objects.
See also:
class Scaling, class Transform

Definition at line 30 of file Translation.h.

Member Typedef Documentation

template<typename _Scalar, int _Dim>
typedef Transform<Scalar,Dim,Affine> Eigen::Translation< _Scalar, _Dim >::AffineTransformType

corresponding affine transformation type

Definition at line 43 of file Translation.h.

template<typename _Scalar, int _Dim>
typedef Transform<Scalar,Dim,Isometry> Eigen::Translation< _Scalar, _Dim >::IsometryTransformType

corresponding isometric transformation type

Definition at line 45 of file Translation.h.

template<typename _Scalar, int _Dim>
typedef Matrix<Scalar,Dim,Dim> Eigen::Translation< _Scalar, _Dim >::LinearMatrixType

corresponding linear transformation matrix type

Definition at line 41 of file Translation.h.

template<typename _Scalar, int _Dim>
typedef _Scalar Eigen::Translation< _Scalar, _Dim >::Scalar

the scalar type of the coefficients

Definition at line 37 of file Translation.h.

template<typename _Scalar, int _Dim>
typedef Matrix<Scalar,Dim,1> Eigen::Translation< _Scalar, _Dim >::VectorType

corresponding vector type

Definition at line 39 of file Translation.h.

Member Enumeration Documentation

template<typename _Scalar, int _Dim>
anonymous enum

dimension of the space

Enumerator:
Dim 

Definition at line 35 of file Translation.h.

{ Dim = _Dim };

Constructor & Destructor Documentation

template<typename _Scalar, int _Dim>
Eigen::Translation< _Scalar, _Dim >::Translation ( ) [inline]

Default constructor without initialization.

Definition at line 54 of file Translation.h.

{}
template<typename _Scalar, int _Dim>
Eigen::Translation< _Scalar, _Dim >::Translation ( const Scalar &  sx,
const Scalar &  sy 
) [inline]

Definition at line 56 of file Translation.h.

  {
    eigen_assert(Dim==2);
    m_coeffs.x() = sx;
    m_coeffs.y() = sy;
  }
template<typename _Scalar, int _Dim>
Eigen::Translation< _Scalar, _Dim >::Translation ( const Scalar &  sx,
const Scalar &  sy,
const Scalar &  sz 
) [inline]

Definition at line 63 of file Translation.h.

  {
    eigen_assert(Dim==3);
    m_coeffs.x() = sx;
    m_coeffs.y() = sy;
    m_coeffs.z() = sz;
  }
template<typename _Scalar, int _Dim>
Eigen::Translation< _Scalar, _Dim >::Translation ( const VectorType &  vector) [inline, explicit]

Constructs and initialize the translation transformation from a vector of translation coefficients

Definition at line 71 of file Translation.h.

: m_coeffs(vector) {}
template<typename _Scalar, int _Dim>
template<typename OtherScalarType >
Eigen::Translation< _Scalar, _Dim >::Translation ( const Translation< OtherScalarType, Dim > &  other) [inline, explicit]

Copy constructor with scalar type conversion

Definition at line 158 of file Translation.h.

  { m_coeffs = other.vector().template cast<Scalar>(); }

Member Function Documentation

template<typename _Scalar, int _Dim>
template<typename NewScalarType >
internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type Eigen::Translation< _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.

Definition at line 153 of file Translation.h.

  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
template<typename _Scalar, int _Dim>
static const Translation Eigen::Translation< _Scalar, _Dim >::Identity ( ) [inline, static]

Definition at line 145 of file Translation.h.

{ return Translation(VectorType::Zero()); }
template<typename _Scalar, int _Dim>
Translation Eigen::Translation< _Scalar, _Dim >::inverse ( ) const [inline]
Returns:
the inverse translation (opposite)

Definition at line 137 of file Translation.h.

{ return Translation(-m_coeffs); }
template<typename _Scalar, int _Dim>
bool Eigen::Translation< _Scalar, _Dim >::isApprox ( const Translation< _Scalar, _Dim > &  other,
const 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()

Definition at line 165 of file Translation.h.

  { return m_coeffs.isApprox(other.m_coeffs, prec); }
template<typename _Scalar, int _Dim>
Translation Eigen::Translation< _Scalar, _Dim >::operator* ( const Translation< _Scalar, _Dim > &  other) const [inline]

Concatenates two translation

Definition at line 94 of file Translation.h.

  { return Translation(m_coeffs + other.m_coeffs); }
template<typename Scalar , int Dim>
Translation< Scalar, Dim >::AffineTransformType Eigen::Translation< Scalar, Dim >::operator* ( const UniformScaling< Scalar > &  other) const [inline]

Concatenates a translation and a uniform scaling

Definition at line 180 of file Translation.h.

{
  AffineTransformType res;
  res.matrix().setZero();
  res.linear().diagonal().fill(other.factor());
  res.translation() = m_coeffs;
  res(Dim,Dim) = Scalar(1);
  return res;
}
template<typename Scalar , int Dim>
template<typename OtherDerived >
Translation< Scalar, Dim >::AffineTransformType Eigen::Translation< Scalar, Dim >::operator* ( const EigenBase< OtherDerived > &  linear) const [inline]

Concatenates a translation and a linear transformation

Definition at line 193 of file Translation.h.

{
  AffineTransformType res;
  res.matrix().setZero();
  res.linear() = linear.derived();
  res.translation() = m_coeffs;
  res.matrix().row(Dim).setZero();
  res(Dim,Dim) = Scalar(1);
  return res;
}
template<typename _Scalar, int _Dim>
template<typename Derived >
IsometryTransformType Eigen::Translation< _Scalar, _Dim >::operator* ( const RotationBase< Derived, Dim > &  r) const [inline]

Concatenates a translation and a rotation

Definition at line 106 of file Translation.h.

  { return *this * IsometryTransformType(r); }
template<typename _Scalar, int _Dim>
template<int Mode, int Options>
Transform<Scalar,Dim,Mode> Eigen::Translation< _Scalar, _Dim >::operator* ( const Transform< Scalar, Dim, Mode, Options > &  t) const [inline]

Concatenates a translation and a transformation

Definition at line 125 of file Translation.h.

  {
    Transform<Scalar,Dim,Mode> res = t;
    res.pretranslate(m_coeffs);
    return res;
  }
template<typename _Scalar, int _Dim>
VectorType Eigen::Translation< _Scalar, _Dim >::operator* ( const VectorType &  other) const [inline]

Applies translation to vector

Definition at line 133 of file Translation.h.

  { return m_coeffs + other; }
template<typename _Scalar, int _Dim>
Translation& Eigen::Translation< _Scalar, _Dim >::operator= ( const Translation< _Scalar, _Dim > &  other) [inline]

Definition at line 139 of file Translation.h.

  {
    m_coeffs = other.m_coeffs;
    return *this;
  }
template<typename _Scalar, int _Dim>
const VectorType& Eigen::Translation< _Scalar, _Dim >::translation ( ) const [inline]

Definition at line 90 of file Translation.h.

{ return m_coeffs; }
template<typename _Scalar, int _Dim>
VectorType& Eigen::Translation< _Scalar, _Dim >::translation ( ) [inline]

Definition at line 91 of file Translation.h.

{ return m_coeffs; }
template<typename _Scalar, int _Dim>
const VectorType& Eigen::Translation< _Scalar, _Dim >::vector ( ) const [inline]

Definition at line 87 of file Translation.h.

{ return m_coeffs; }
template<typename _Scalar, int _Dim>
VectorType& Eigen::Translation< _Scalar, _Dim >::vector ( ) [inline]

Definition at line 88 of file Translation.h.

{ return m_coeffs; }
template<typename _Scalar, int _Dim>
Scalar Eigen::Translation< _Scalar, _Dim >::x ( ) const [inline]

Retruns the x-translation by value.

Definition at line 74 of file Translation.h.

{ return m_coeffs.x(); }
template<typename _Scalar, int _Dim>
Scalar& Eigen::Translation< _Scalar, _Dim >::x ( ) [inline]

Retruns the x-translation as a reference.

Definition at line 81 of file Translation.h.

{ return m_coeffs.x(); }
template<typename _Scalar, int _Dim>
Scalar Eigen::Translation< _Scalar, _Dim >::y ( ) const [inline]

Retruns the y-translation by value.

Definition at line 76 of file Translation.h.

{ return m_coeffs.y(); }
template<typename _Scalar, int _Dim>
Scalar& Eigen::Translation< _Scalar, _Dim >::y ( ) [inline]

Retruns the y-translation as a reference.

Definition at line 83 of file Translation.h.

{ return m_coeffs.y(); }
template<typename _Scalar, int _Dim>
Scalar Eigen::Translation< _Scalar, _Dim >::z ( ) const [inline]

Retruns the z-translation by value.

Definition at line 78 of file Translation.h.

{ return m_coeffs.z(); }
template<typename _Scalar, int _Dim>
Scalar& Eigen::Translation< _Scalar, _Dim >::z ( ) [inline]

Retruns the z-translation as a reference.

Definition at line 85 of file Translation.h.

{ return m_coeffs.z(); }

Friends And Related Function Documentation

template<typename _Scalar, int _Dim>
template<typename OtherDerived >
AffineTransformType operator* ( const EigenBase< OtherDerived > &  linear,
const Translation< _Scalar, _Dim > &  t 
) [friend]
Returns:
the concatenation of a linear transformation l with the translation t

Definition at line 112 of file Translation.h.

  {
    AffineTransformType res;
    res.matrix().setZero();
    res.linear() = linear.derived();
    res.translation() = linear.derived() * t.m_coeffs;
    res.matrix().row(Dim).setZero();
    res(Dim,Dim) = Scalar(1);
    return res;
  }

Member Data Documentation

template<typename _Scalar, int _Dim>
VectorType Eigen::Translation< _Scalar, _Dim >::m_coeffs [protected]

Definition at line 49 of file Translation.h.

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