1c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This file is part of Eigen, a lightweight C++ template library 2c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// for linear algebra. 3c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 4c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> 5c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 6c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This Source Code Form is subject to the terms of the Mozilla 7c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Public License v. 2.0. If a copy of the MPL was not distributed 8c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 10c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#ifndef EIGEN_SCALING_H 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define EIGEN_SCALING_H 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathnamespace Eigen { 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \geometry_module \ingroup Geometry_Module 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \class Scaling 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \brief Represents a generic uniform scaling transformation 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \param _Scalar the scalar type, i.e., the type of the coefficients. 22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * This class represent a uniform scaling transformation. It is the return 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * type of Scaling(Scalar), and most of the time this is the only way it 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * is used. In particular, this class is not aimed to be used to store a scaling transformation, 26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * but rather to make easier the constructions and updates of Transform objects. 27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * To represent an axis aligned scaling, use the DiagonalMatrix class. 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa Scaling(), class DiagonalMatrix, MatrixBase::asDiagonal(), class Translation, class Transform 31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename _Scalar> 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathclass UniformScaling 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** the scalar type of the coefficients */ 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef _Scalar Scalar; 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathprotected: 40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar m_factor; 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Default constructor without initialization. */ 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath UniformScaling() {} 47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs and initialize a uniform scaling transformation */ 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath explicit inline UniformScaling(const Scalar& s) : m_factor(s) {} 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline const Scalar& factor() const { return m_factor; } 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scalar& factor() { return m_factor; } 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates two uniform scaling */ 54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline UniformScaling operator* (const UniformScaling& other) const 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return UniformScaling(m_factor * other.factor()); } 56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a uniform scaling and a translation */ 58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<int Dim> 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const; 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a uniform scaling and an affine transformation */ 62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<int Dim, int Mode, int Options> 63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t; 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.prescale(factor()); 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a uniform scaling and a linear transformation matrix */ 71c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // TODO returns an expression 72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 73c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline typename internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const 74c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return other * m_factor; } 75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 76c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived,int Dim> 77c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Matrix<Scalar,Dim,Dim> operator*(const RotationBase<Derived,Dim>& r) const 78c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return r.toRotationMatrix() * m_factor; } 79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 80c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the inverse scaling */ 81c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline UniformScaling inverse() const 82c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return UniformScaling(Scalar(1)/m_factor); } 83c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c *this with scalar type casted to \a NewScalarType 85c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * Note that if \a NewScalarType is equal to the current scalar type of \c *this 87c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * then this function smartly returns a const reference to \c *this. 88c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename NewScalarType> 90c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline UniformScaling<NewScalarType> cast() const 91c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return UniformScaling<NewScalarType>(NewScalarType(m_factor)); } 92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 93c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Copy constructor with scalar type conversion */ 94c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherScalarType> 95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline explicit UniformScaling(const UniformScaling<OtherScalarType>& other) 96c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { m_factor = Scalar(other.factor()); } 97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 98c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c true if \c *this is approximately equal to \a other, within the precision 99c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * determined by \a prec. 100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa MatrixBase::isApprox() */ 102c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath bool isApprox(const UniformScaling& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const 103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return internal::isApprox(m_factor, other.factor(), prec); } 104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 105c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath}; 106c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Concatenates a linear transformation matrix and a uniform scaling */ 108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// NOTE this operator is defiend in MatrixBase and not as a friend function 109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// of UniformScaling to fix an internal crash of Intel's ICC 110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Derived> typename MatrixBase<Derived>::ScalarMultipleReturnType 111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathMatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const 112c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return derived() * s.factor(); } 113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a uniform scaling from scale factor \a s */ 115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathstatic inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); } 116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a uniform scaling from scale factor \a s */ 117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathstatic inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); } 118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a uniform scaling from scale factor \a s */ 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename RealScalar> 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathstatic inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s) 121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return UniformScaling<std::complex<RealScalar> >(s); } 122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a 2D axis aligned scaling */ 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar> 125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathstatic inline DiagonalMatrix<Scalar,2> Scaling(Scalar sx, Scalar sy) 126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return DiagonalMatrix<Scalar,2>(sx, sy); } 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a 3D axis aligned scaling */ 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar> 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathstatic inline DiagonalMatrix<Scalar,3> Scaling(Scalar sx, Scalar sy, Scalar sz) 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return DiagonalMatrix<Scalar,3>(sx, sy, sz); } 131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs an axis aligned scaling expression from vector expression \a coeffs 133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * This is an alias for coeffs.asDiagonal() 134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 135c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Derived> 136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathstatic inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs) 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return coeffs.asDiagonal(); } 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \addtogroup Geometry_Module */ 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//@{ 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<float, 2> AlignedScaling2f; 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<double,2> AlignedScaling2d; 145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<float, 3> AlignedScaling3f; 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<double,3> AlignedScaling3d; 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//@} 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar> 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<int Dim> 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathinline Transform<Scalar,Dim,Affine> 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathUniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const 155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<Scalar,Dim,Affine> res; 157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().setZero(); 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.linear().diagonal().fill(factor()); 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.translation() = factor() * t.vector(); 160c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res(Dim,Dim) = Scalar(1); 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} // end namespace Eigen 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 166c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#endif // EIGEN_SCALING_H 167