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Eigen  3.4.0
 
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Scaling.h
1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10#ifndef EIGEN_SCALING_H
11#define EIGEN_SCALING_H
12
13namespace Eigen {
14
33namespace internal
34{
35 // This helper helps nvcc+MSVC to properly parse this file.
36 // See bug 1412.
37 template <typename Scalar, int Dim, int Mode>
38 struct uniformscaling_times_affine_returntype
39 {
40 enum
41 {
42 NewMode = int(Mode) == int(Isometry) ? Affine : Mode
43 };
44 typedef Transform <Scalar, Dim, NewMode> type;
45 };
46}
47
48template<typename _Scalar>
50{
51public:
53 typedef _Scalar Scalar;
54
55protected:
56
57 Scalar m_factor;
58
59public:
60
64 explicit inline UniformScaling(const Scalar& s) : m_factor(s) {}
65
66 inline const Scalar& factor() const { return m_factor; }
67 inline Scalar& factor() { return m_factor; }
68
70 inline UniformScaling operator* (const UniformScaling& other) const
71 { return UniformScaling(m_factor * other.factor()); }
72
74 template<int Dim>
75 inline Transform<Scalar,Dim,Affine> operator* (const Translation<Scalar,Dim>& t) const;
76
78 template<int Dim, int Mode, int Options>
79 inline typename
80 internal::uniformscaling_times_affine_returntype<Scalar,Dim,Mode>::type
81 operator* (const Transform<Scalar, Dim, Mode, Options>& t) const
82 {
83 typename internal::uniformscaling_times_affine_returntype<Scalar,Dim,Mode>::type res = t;
84 res.prescale(factor());
85 return res;
86 }
87
89 // TODO returns an expression
90 template<typename Derived>
91 inline typename Eigen::internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const
92 { return other * m_factor; }
93
94 template<typename Derived,int Dim>
95 inline Matrix<Scalar,Dim,Dim> operator*(const RotationBase<Derived,Dim>& r) const
96 { return r.toRotationMatrix() * m_factor; }
97
99 inline UniformScaling inverse() const
100 { return UniformScaling(Scalar(1)/m_factor); }
101
107 template<typename NewScalarType>
108 inline UniformScaling<NewScalarType> cast() const
109 { return UniformScaling<NewScalarType>(NewScalarType(m_factor)); }
110
112 template<typename OtherScalarType>
113 inline explicit UniformScaling(const UniformScaling<OtherScalarType>& other)
114 { m_factor = Scalar(other.factor()); }
115
120 bool isApprox(const UniformScaling& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
121 { return internal::isApprox(m_factor, other.factor(), prec); }
122
123};
124
127
131// NOTE this operator is defined in MatrixBase and not as a friend function
132// of UniformScaling to fix an internal crash of Intel's ICC
133template<typename Derived,typename Scalar>
134EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product)
135operator*(const MatrixBase<Derived>& matrix, const UniformScaling<Scalar>& s)
136{ return matrix.derived() * s.factor(); }
137
139inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
141inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
143template<typename RealScalar>
144inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
145{ return UniformScaling<std::complex<RealScalar> >(s); }
146
148template<typename Scalar>
149inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
150{ return DiagonalMatrix<Scalar,2>(sx, sy); }
152template<typename Scalar>
153inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
154{ return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
155
159template<typename Derived>
160inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
161{ return coeffs.asDiagonal(); }
162
164typedef DiagonalMatrix<float, 2> AlignedScaling2f;
166typedef DiagonalMatrix<double,2> AlignedScaling2d;
168typedef DiagonalMatrix<float, 3> AlignedScaling3f;
170typedef DiagonalMatrix<double,3> AlignedScaling3d;
172
173template<typename Scalar>
174template<int Dim>
175inline Transform<Scalar,Dim,Affine>
176UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
177{
178 Transform<Scalar,Dim,Affine> res;
179 res.matrix().setZero();
180 res.linear().diagonal().fill(factor());
181 res.translation() = factor() * t.vector();
182 res(Dim,Dim) = Scalar(1);
183 return res;
184}
185
186} // end namespace Eigen
187
188#endif // EIGEN_SCALING_H
Base class for all dense matrices, vectors, and expressions.
Definition MatrixBase.h:50
Represents a generic uniform scaling transformation.
Definition Scaling.h:50
_Scalar Scalar
Definition Scaling.h:53
UniformScaling< NewScalarType > cast() const
Definition Scaling.h:108
UniformScaling(const Scalar &s)
Definition Scaling.h:64
UniformScaling inverse() const
Definition Scaling.h:99
bool isApprox(const UniformScaling &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition Scaling.h:120
UniformScaling(const UniformScaling< OtherScalarType > &other)
Definition Scaling.h:113
UniformScaling()
Definition Scaling.h:62
UniformScaling operator*(const UniformScaling &other) const
Definition Scaling.h:70
@ Affine
Definition Constants.h:460
@ Isometry
Definition Constants.h:457
Namespace containing all symbols from the Eigen library.
Definition Core:141
DiagonalMatrix< double, 3 > AlignedScaling3d
Definition Scaling.h:170
UniformScaling< float > Scaling(float s)
Definition Scaling.h:139
DiagonalMatrix< float, 3 > AlignedScaling3f
Definition Scaling.h:168
DiagonalMatrix< float, 2 > AlignedScaling2f
Definition Scaling.h:164
DiagonalMatrix< double, 2 > AlignedScaling2d
Definition Scaling.h:166
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Definition NumTraits.h:233