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_TRANSLATION_H 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define EIGEN_TRANSLATION_H 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathnamespace Eigen { 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \geometry_module \ingroup Geometry_Module 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \class Translation 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \brief Represents a translation transformation 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 212b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang * \tparam _Scalar the scalar type, i.e., the type of the coefficients. 222b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang * \tparam _Dim the dimension of the space, can be a compile time value or Dynamic 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \note This class is not aimed to be used to store a translation transformation, 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * but rather to make easier the constructions and updates of Transform objects. 26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa class Scaling, class Transform 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename _Scalar, int _Dim> 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathclass Translation 31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim) 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** dimension of the space */ 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath enum { Dim = _Dim }; 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** the scalar type of the coefficients */ 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef _Scalar Scalar; 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding vector type */ 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,Dim,1> VectorType; 40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding linear transformation matrix type */ 41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,Dim,Dim> LinearMatrixType; 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding affine transformation type */ 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,Dim,Affine> AffineTransformType; 44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** corresponding isometric transformation type */ 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,Dim,Isometry> IsometryTransformType; 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathprotected: 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType m_coeffs; 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Default constructor without initialization. */ 542b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC Translation() {} 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** */ 562b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy) 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath eigen_assert(Dim==2); 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.x() = sx; 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.y() = sy; 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** */ 632b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz) 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath eigen_assert(Dim==3); 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.x() = sx; 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.y() = sy; 68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs.z() = sz; 69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs and initialize the translation transformation from a vector of translation coefficients */ 712b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {} 72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 73c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \brief Retruns the x-translation by value. **/ 742b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); } 75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \brief Retruns the y-translation by value. **/ 762b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); } 77c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \brief Retruns the z-translation by value. **/ 782b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); } 79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 80c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \brief Retruns the x-translation as a reference. **/ 812b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); } 82c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \brief Retruns the y-translation as a reference. **/ 832b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); } 84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \brief Retruns the z-translation as a reference. **/ 852b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); } 86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 872b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; } 882b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; } 89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 902b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; } 912b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; } 92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 93c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates two translation */ 942b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const 95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return Translation(m_coeffs + other.m_coeffs); } 96c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a translation and a uniform scaling */ 982b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const; 99c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a translation and a linear transformation */ 101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherDerived> 1022b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const; 103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a translation and a rotation */ 105c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 1062b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const 107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return *this * IsometryTransformType(r); } 108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the concatenation of a linear transformation \a l with the translation \a t */ 110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // its a nightmare to define a templated friend function outside its declaration 111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherDerived> friend 1122b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t) 113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AffineTransformType res; 115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().setZero(); 116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.linear() = linear.derived(); 117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.translation() = linear.derived() * t.m_coeffs; 118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().row(Dim).setZero(); 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res(Dim,Dim) = Scalar(1); 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Concatenates a translation and a transformation */ 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<int Mode, int Options> 1252b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const 126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<Scalar,Dim,Mode> res = t; 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.pretranslate(m_coeffs); 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Applies translation to vector */ 133353bba589de58014a35f8f3666b7b96353c300f8Stephen Kiazyk template<typename Derived> 134353bba589de58014a35f8f3666b7b96353c300f8Stephen Kiazyk inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type 135353bba589de58014a35f8f3666b7b96353c300f8Stephen Kiazyk operator* (const MatrixBase<Derived>& vec) const 136353bba589de58014a35f8f3666b7b96353c300f8Stephen Kiazyk { return m_coeffs + vec.derived(); } 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the inverse translation (opposite) */ 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation inverse() const { return Translation(-m_coeffs); } 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation& operator=(const Translation& other) 142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_coeffs = other.m_coeffs; 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return *this; 145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath static const Translation Identity() { return Translation(VectorType::Zero()); } 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c *this with scalar type casted to \a NewScalarType 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * Note that if \a NewScalarType is equal to the current scalar type of \c *this 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * then this function smartly returns a const reference to \c *this. 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename NewScalarType> 1552b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const 156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); } 157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Copy constructor with scalar type conversion */ 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherScalarType> 1602b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other) 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { m_coeffs = other.vector().template cast<Scalar>(); } 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c true if \c *this is approximately equal to \a other, within the precision 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * determined by \a prec. 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 166c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa MatrixBase::isApprox() */ 1672b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const 168c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return m_coeffs.isApprox(other.m_coeffs, prec); } 169c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 170c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath}; 171c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 172c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \addtogroup Geometry_Module */ 173c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//@{ 174c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Translation<float, 2> Translation2f; 175c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Translation<double,2> Translation2d; 176c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Translation<float, 3> Translation3f; 177c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef Translation<double,3> Translation3d; 178c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//@} 179c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 180c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar, int Dim> 1812b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType 182c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathTranslation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const 183c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 184c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AffineTransformType res; 185c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().setZero(); 186c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.linear().diagonal().fill(other.factor()); 187c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.translation() = m_coeffs; 188c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res(Dim,Dim) = Scalar(1); 189c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 190c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 191c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 192c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar, int Dim> 193c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename OtherDerived> 1942b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType 195c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathTranslation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const 196c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 197c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AffineTransformType res; 198c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().setZero(); 199c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.linear() = linear.derived(); 200c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.translation() = m_coeffs; 201c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().row(Dim).setZero(); 202c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res(Dim,Dim) = Scalar(1); 203c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 204c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 205c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 206c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} // end namespace Eigen 207c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 208c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#endif // EIGEN_TRANSLATION_H 209