1c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This file is part of Eigen, a lightweight C++ template library 27faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez// for linear algebra. 3c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 4c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Copyright (C) 2008 Gael Guennebaud <g.gael@free.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// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathnamespace Eigen { 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \geometry_module \ingroup Geometry_Module 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \class Scaling 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \brief Represents a possibly non uniform scaling transformation 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \param _Scalar the scalar type, i.e., the type of the coefficients. 21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \param _Dim the dimension of the space, can be a compile time value or Dynamic 22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \note This class is not aimed to be used to store a scaling transformation, 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * but rather to make easier the constructions and updates of Transform objects. 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa class Translation, class Transform 27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename _Scalar, int _Dim> 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathclass Scaling 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim) 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** dimension of the space */ 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath enum { Dim = _Dim }; 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** the scalar type of the coefficients */ 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef _Scalar Scalar; 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding vector type */ 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,Dim,1> VectorType; 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding linear transformation matrix type */ 40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,Dim,Dim> LinearMatrixType; 41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding translation type */ 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Translation<Scalar,Dim> TranslationType; 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding affine transformation type */ 44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,Dim> TransformType; 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathprotected: 47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType m_coeffs; 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Default constructor without initialization. */ 53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scaling() {} 54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs and initialize a uniform scaling transformation */ 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath explicit inline Scaling(const Scalar& s) { m_coeffs.setConstant(s); } 56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** 2D only */ 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scaling(const Scalar& sx, const Scalar& sy) 58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath ei_assert(Dim==2); 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.x() = sx; 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.y() = sy; 62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** 3D only */ 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz) 65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath ei_assert(Dim==3); 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.x() = sx; 68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.y() = sy; 69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.z() = sz; 70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 71c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */ 72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath explicit inline Scaling(const VectorType& coeffs) : m_coeffs(coeffs) {} 73c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 74c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const VectorType& coeffs() const { return m_coeffs; } 75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType& coeffs() { return m_coeffs; } 76c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 77c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates two scaling */ 78c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scaling operator* (const Scaling& other) const 79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return Scaling(coeffs().cwise() * other.coeffs()); } 80c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 81c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a scaling and a translation */ 82c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline TransformType operator* (const TranslationType& t) const; 83c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a scaling and an affine transformation */ 85c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline TransformType operator* (const TransformType& t) const; 86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 87c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a scaling and a linear transformation matrix */ 88c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // TODO returns an expression 89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline LinearMatrixType operator* (const LinearMatrixType& other) const 90c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return coeffs().asDiagonal() * other; } 91c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a linear transformation matrix and a scaling */ 93c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // TODO returns an expression 94c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath friend inline LinearMatrixType operator* (const LinearMatrixType& other, const Scaling& s) 95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return other * s.coeffs().asDiagonal(); } 96c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 98c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline LinearMatrixType operator*(const RotationBase<Derived,Dim>& r) const 99c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return *this * r.toRotationMatrix(); } 100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Applies scaling to vector */ 102c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline VectorType operator* (const VectorType& other) const 103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return coeffs().asDiagonal() * other; } 104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 105c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the inverse scaling */ 106c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scaling inverse() const 107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return Scaling(coeffs().cwise().inverse()); } 108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scaling& operator=(const Scaling& other) 110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs = other.m_coeffs; 112c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return *this; 113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c *this with scalar type casted to \a NewScalarType 116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * Note that if \a NewScalarType is equal to the current scalar type of \c *this 118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * then this function smartly returns a const reference to \c *this. 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename NewScalarType> 121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type cast() const 122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type(*this); } 123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Copy constructor with scalar type conversion */ 125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherScalarType> 126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline explicit Scaling(const Scaling<OtherScalarType,Dim>& other) 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { m_coeffs = other.coeffs().template cast<Scalar>(); } 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c true if \c *this is approximately equal to \a other, within the precision 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * determined by \a prec. 131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa MatrixBase::isApprox() */ 133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath bool isApprox(const Scaling& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const 134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return m_coeffs.isApprox(other.m_coeffs, prec); } 135c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath}; 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \addtogroup Geometry_Module */ 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//@{ 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Scaling<float, 2> Scaling2f; 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Scaling<double,2> Scaling2d; 142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Scaling<float, 3> Scaling3f; 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Scaling<double,3> Scaling3d; 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//@} 145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar, int Dim> 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathinline typename Scaling<Scalar,Dim>::TransformType 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathScaling<Scalar,Dim>::operator* (const TranslationType& t) const 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TransformType res; 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().setZero(); 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.linear().diagonal() = coeffs(); 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.translation() = m_coeffs.cwise() * t.vector(); 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res(Dim,Dim) = Scalar(1); 155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar, int Dim> 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathinline typename Scaling<Scalar,Dim>::TransformType 160c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathScaling<Scalar,Dim>::operator* (const TransformType& t) const 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TransformType res = t; 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.prescale(m_coeffs); 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 166c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 167c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} // end namespace Eigen 168