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 * 212b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang * \tparam _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 { 652b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t; 662b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang res.prescale(factor()); 672b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang return res; 682b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang } 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() */ 1027faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez bool isApprox(const UniformScaling& other, const 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 1072b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang/** \addtogroup Geometry_Module */ 1082b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang//@{ 1092b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang 1102b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang/** Concatenates a linear transformation matrix and a uniform scaling 1112b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang * \relates UniformScaling 1122b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang */ 113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// NOTE this operator is defiend in MatrixBase and not as a friend function 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// of UniformScaling to fix an internal crash of Intel's ICC 1152b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wangtemplate<typename Derived,typename Scalar> 1162b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product) 1172b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wangoperator*(const MatrixBase<Derived>& matrix, const UniformScaling<Scalar>& s) 1182b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang{ return matrix.derived() * s.factor(); } 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a uniform scaling from scale factor \a s */ 1212b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wanginline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); } 122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a uniform scaling from scale factor \a s */ 1232b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wanginline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); } 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a uniform scaling from scale factor \a s */ 125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename RealScalar> 1262b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wanginline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s) 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return UniformScaling<std::complex<RealScalar> >(s); } 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a 2D axis aligned scaling */ 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar> 1312b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wanginline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy) 132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return DiagonalMatrix<Scalar,2>(sx, sy); } 133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a 3D axis aligned scaling */ 134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar> 1352b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wanginline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz) 136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return DiagonalMatrix<Scalar,3>(sx, sy, sz); } 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs an axis aligned scaling expression from vector expression \a coeffs 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * This is an alias for coeffs.asDiagonal() 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Derived> 1422b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wanginline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs) 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ return coeffs.asDiagonal(); } 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<float, 2> AlignedScaling2f; 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<double,2> AlignedScaling2d; 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<float, 3> AlignedScaling3f; 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated */ 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef DiagonalMatrix<double,3> AlignedScaling3d; 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//@} 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar> 156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<int Dim> 157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathinline Transform<Scalar,Dim,Affine> 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathUniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 160c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<Scalar,Dim,Affine> res; 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.matrix().setZero(); 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.linear().diagonal().fill(factor()); 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res.translation() = factor() * t.vector(); 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath res(Dim,Dim) = Scalar(1); 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 166c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 167c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 168c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} // end namespace Eigen 169c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 170c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#endif // EIGEN_SCALING_H 171