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add uniform scale/prescale functions in Tranform

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This commit is contained in:
Gael Guennebaud 2008-08-30 23:10:46 +00:00
parent 9c450a52a2
commit 5c8c09e021
3 changed files with 38 additions and 10 deletions
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4
Eigen/src/Geometry/RotationBase.h
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@ -77,7 +77,7 @@ template<typename OtherDerived>
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,OtherDerived::Dim,OtherDerived::Dim);
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim));
*this = r.toRotationMatrix();
}
@ -91,7 +91,7 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,OtherDerived::Dim,OtherDerived::Dim);
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim));
return *this = r.toRotationMatrix();
}

26
Eigen/src/Geometry/Transform.h
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@ -188,6 +188,9 @@ public:
template<typename OtherDerived>
inline Transform& prescale(const MatrixBase<OtherDerived> &other);
inline Transform& scale(Scalar s);
inline Transform& prescale(Scalar s);
template<typename OtherDerived>
inline Transform& translate(const MatrixBase<OtherDerived> &other);
@ -310,6 +313,17 @@ Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other)
return *this;
}
/** Applies on the right a uniform scale of a factor \a c to \c *this
* and returns a reference to \c *this.
* \sa prescale(Scalar)
*/
template<typename Scalar, int Dim>
inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::scale(Scalar s)
{
linear() *= s;
return *this;
}
/** Applies on the left the non uniform scale transformation represented
* by the vector \a other to \c *this and returns a reference to \c *this.
* \sa scale()
@ -324,6 +338,17 @@ Transform<Scalar,Dim>::prescale(const MatrixBase<OtherDerived> &other)
return *this;
}
/** Applies on the left a uniform scale of a factor \a c to \c *this
* and returns a reference to \c *this.
* \sa scale(Scalar)
*/
template<typename Scalar, int Dim>
inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::prescale(Scalar s)
{
m_matrix.template corner<Dim,HDim>(TopLeft) *= s;
return *this;
}
/** Applies on the right the translation matrix represented by the vector \a other
* to \c *this and returns a reference to \c *this.
* \sa pretranslate()
@ -516,6 +541,7 @@ Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
return linear();
else
ei_assert("invalid traits value in Transform::inverse()");
return LinearMatrixType();
}
/** Convenient method to set \c *this from a position, orientation and scale

18
test/geometry.cpp
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@ -157,6 +157,16 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
t1.setIdentity(); t1.scale(v0).rotate(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity(); t0.scale(v0).rotate(AngleAxis(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
// 2D transformation
Transform2 t20, t21;
Vector2 v20 = test_random_matrix<Vector2>();
@ -173,14 +183,6 @@ template<typename Scalar> void geometry(void)
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
* (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity(test_precision<Scalar>()) );
t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
t1.setIdentity(); t1.scale(v0).rotate(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity(); t0.scale(v0).rotate(AngleAxis(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// Transform - new API
// 3D
t0.setIdentity();