Eigen::Translation< Scalar_, Dim_ > Class Template Reference

Represents a translation transformation. More...

Public Types
enum	{ Dim }
typedef Transform< Scalar, Dim, Affine >	AffineTransformType
typedef Transform< Scalar, Dim, Isometry >	IsometryTransformType
typedef Matrix< Scalar, Dim, Dim >	LinearMatrixType
typedef Scalar_	Scalar
typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Member Functions
template<typename NewScalarType >
internal::cast_return_type< Translation, Translation< NewScalarType, Dim > >::type	cast () const
Translation	inverse () const
bool	isApprox (const Translation &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
template<typename OtherDerived >
AffineTransformType	operator* (const EigenBase< OtherDerived > &linear) const
template<typename Derived >
std::enable_if_t< Derived::IsVectorAtCompileTime, VectorType >	operator* (const MatrixBase< Derived > &vec) const
template<typename Derived >
IsometryTransformType	operator* (const RotationBase< Derived, Dim > &r) const
template<int Mode, int Options>
Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const
Translation	operator* (const Translation &other) const
AffineTransformType	operator* (const UniformScaling< Scalar > &other) const
	Translation ()
VectorType &	translation ()
const VectorType &	translation () const
	Translation (const Scalar &sx, const Scalar &sy)
	Translation (const Scalar &sx, const Scalar &sy, const Scalar &sz)
template<typename OtherScalarType >
	Translation (const Translation< OtherScalarType, Dim > &other)
	Translation (const VectorType &vector)
VectorType &	vector ()
const VectorType &	vector () const
Scalar &	x ()
	Returns the x-translation as a reference. More...
Scalar	x () const
	Returns the x-translation by value. More...
Scalar &	y ()
	Returns the y-translation as a reference. More...
Scalar	y () const
	Returns the y-translation by value. More...
Scalar &	z ()
	Returns the z-translation as a reference. More...
Scalar	z () const
	Returns the z-translation by value. More...

Static Public Member Functions
static const Translation	Identity ()

Protected Attributes
VectorType	m_coeffs

Detailed Description

template<typename Scalar_, int Dim_>
class Eigen::Translation< Scalar_, Dim_ >

Represents a translation transformation.

This is defined in the Geometry module.

#include <Eigen/Geometry> 

Template Parameters

Scalar_	the scalar type, i.e., the type of the coefficients.
Dim_	the dimension of the space, can be a compile time value or Dynamic

Note

This class is not aimed to be used to store a translation transformation, but rather to make easier the constructions and updates of Transform objects.

See also

class Scaling, class Transform

Definition at line 32 of file Translation.h.

Member Typedef Documentation

AffineTransformType

template<typename Scalar_ , int Dim_>

typedef Transform<Scalar,Dim,Affine> Eigen::Translation< Scalar_, Dim_ >::AffineTransformType

corresponding affine transformation type

Definition at line 45 of file Translation.h.

IsometryTransformType

template<typename Scalar_ , int Dim_>

typedef Transform<Scalar,Dim,Isometry> Eigen::Translation< Scalar_, Dim_ >::IsometryTransformType

corresponding isometric transformation type

Definition at line 47 of file Translation.h.

LinearMatrixType

template<typename Scalar_ , int Dim_>

typedef Matrix<Scalar,Dim,Dim> Eigen::Translation< Scalar_, Dim_ >::LinearMatrixType

corresponding linear transformation matrix type

Definition at line 43 of file Translation.h.

Scalar

template<typename Scalar_ , int Dim_>

typedef Scalar_ Eigen::Translation< Scalar_, Dim_ >::Scalar

the scalar type of the coefficients

Definition at line 39 of file Translation.h.

VectorType

template<typename Scalar_ , int Dim_>

typedef Matrix<Scalar,Dim,1> Eigen::Translation< Scalar_, Dim_ >::VectorType

corresponding vector type

Definition at line 41 of file Translation.h.

Member Enumeration Documentation

anonymous enum

template<typename Scalar_ , int Dim_>

anonymous enum

dimension of the space

Enumerator
Dim

Definition at line 37 of file Translation.h.

{ Dim = Dim_ };

Constructor & Destructor Documentation

Translation() [1/5]

template<typename Scalar_ , int Dim_>

Eigen::Translation< Scalar_, Dim_ >::Translation ( )

inline

Default constructor without initialization.

Definition at line 56 of file Translation.h.

{}

Translation() [2/5]

template<typename Scalar_ , int Dim_>

Eigen::Translation< Scalar_, Dim_ >::Translation ( const Scalar &  sx, const Scalar &  sy  )

inline

Definition at line 58 of file Translation.h.

  {
    eigen_assert(Dim==2);
    m_coeffs.x() = sx;
    m_coeffs.y() = sy;
  }

Translation() [3/5]

template<typename Scalar_ , int Dim_>

Eigen::Translation< Scalar_, Dim_ >::Translation ( const Scalar &  sx, const Scalar &  sy, const Scalar &  sz  )

inline

Definition at line 65 of file Translation.h.

  {
    eigen_assert(Dim==3);
    m_coeffs.x() = sx;
    m_coeffs.y() = sy;
    m_coeffs.z() = sz;
  }

Translation() [4/5]

template<typename Scalar_ , int Dim_>

Eigen::Translation< Scalar_, Dim_ >::Translation ( const VectorType &  vector )

inlineexplicit

Constructs and initialize the translation transformation from a vector of translation coefficients

Definition at line 73 of file Translation.h.

: m_coeffs(vector) {}

Translation() [5/5]

template<typename Scalar_ , int Dim_>

template<typename OtherScalarType >

Eigen::Translation< Scalar_, Dim_ >::Translation ( const Translation< OtherScalarType, Dim > &  other )

inlineexplicit

Copy constructor with scalar type conversion

Definition at line 156 of file Translation.h.

  { m_coeffs = other.vector().template cast<Scalar>(); }

Member Function Documentation

cast()

template<typename Scalar_ , int Dim_>

template<typename NewScalarType >

internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type Eigen::Translation< Scalar_, Dim_ >::cast ( ) const

inline

Returns

*this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

Definition at line 151 of file Translation.h.

  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }

Identity()

template<typename Scalar_ , int Dim_>

static const Translation Eigen::Translation< Scalar_, Dim_ >::Identity ( )

inlinestatic

Definition at line 143 of file Translation.h.

{ return Translation(VectorType::Zero()); }

inverse()

template<typename Scalar_ , int Dim_>

Translation Eigen::Translation< Scalar_, Dim_ >::inverse ( ) const

inline

Returns

the inverse translation (opposite)

Definition at line 141 of file Translation.h.

{ return Translation(-m_coeffs); }

isApprox()

template<typename Scalar_ , int Dim_>

bool Eigen::Translation< Scalar_, Dim_ >::isApprox ( const Translation< Scalar_, Dim_ > &  other, const typename NumTraits< Scalar >::Real &  prec = NumTraits<Scalar>::dummy_precision()  ) const

inline

Returns

true if *this is approximately equal to other, within the precision determined by prec.

See also

MatrixBase::isApprox()

Definition at line 163 of file Translation.h.

  { return m_coeffs.isApprox(other.m_coeffs, prec); }

operator*() [1/6]

template<typename Scalar , int Dim>

template<typename OtherDerived >

Translation< Scalar, Dim >::AffineTransformType Eigen::Translation< Scalar, Dim >::operator* ( const EigenBase< OtherDerived > &  linear ) const

inline

Concatenates a translation and a linear transformation

Definition at line 191 of file Translation.h.

{
  AffineTransformType res;
  res.matrix().setZero();
  res.linear() = linear.derived();
  res.translation() = m_coeffs;
  res.matrix().row(Dim).setZero();
  res(Dim,Dim) = Scalar(1);
  return res;
}

operator*() [2/6]

template<typename Scalar_ , int Dim_>

template<typename Derived >

std::enable_if_t<Derived::IsVectorAtCompileTime,VectorType> Eigen::Translation< Scalar_, Dim_ >::operator* ( const MatrixBase< Derived > &  vec ) const

inline

Applies translation to vector

Definition at line 137 of file Translation.h.

  { return m_coeffs + vec.derived(); }

operator*() [3/6]

template<typename Scalar_ , int Dim_>

template<typename Derived >

IsometryTransformType Eigen::Translation< Scalar_, Dim_ >::operator* ( const RotationBase< Derived, Dim > &  r ) const

inline

Concatenates a translation and a rotation

Definition at line 108 of file Translation.h.

  { return *this * IsometryTransformType(r); }

operator*() [4/6]

template<typename Scalar_ , int Dim_>

template<int Mode, int Options>

Transform<Scalar,Dim,Mode> Eigen::Translation< Scalar_, Dim_ >::operator* ( const Transform< Scalar, Dim, Mode, Options > &  t ) const

inline

Concatenates a translation and a transformation

Definition at line 127 of file Translation.h.

  {
    Transform<Scalar,Dim,Mode> res = t;
    res.pretranslate(m_coeffs);
    return res;
  }

operator*() [5/6]

template<typename Scalar_ , int Dim_>

Translation Eigen::Translation< Scalar_, Dim_ >::operator* ( const Translation< Scalar_, Dim_ > &  other ) const

inline

Concatenates two translation

Definition at line 96 of file Translation.h.

  { return Translation(m_coeffs + other.m_coeffs); }

operator*() [6/6]

template<typename Scalar , int Dim>

Translation< Scalar, Dim >::AffineTransformType Eigen::Translation< Scalar, Dim >::operator* ( const UniformScaling< Scalar > &  other ) const

inline

Concatenates a translation and a uniform scaling

Definition at line 178 of file Translation.h.

{
  AffineTransformType res;
  res.matrix().setZero();
  res.linear().diagonal().fill(other.factor());
  res.translation() = m_coeffs;
  res(Dim,Dim) = Scalar(1);
  return res;
}

translation() [1/2]

template<typename Scalar_ , int Dim_>

VectorType& Eigen::Translation< Scalar_, Dim_ >::translation ( )

inline

Definition at line 93 of file Translation.h.

{ return m_coeffs; }

translation() [2/2]

template<typename Scalar_ , int Dim_>

const VectorType& Eigen::Translation< Scalar_, Dim_ >::translation ( ) const

inline

Definition at line 92 of file Translation.h.

{ return m_coeffs; }

vector() [1/2]

template<typename Scalar_ , int Dim_>

VectorType& Eigen::Translation< Scalar_, Dim_ >::vector ( )

inline

Definition at line 90 of file Translation.h.

{ return m_coeffs; }

vector() [2/2]

template<typename Scalar_ , int Dim_>

const VectorType& Eigen::Translation< Scalar_, Dim_ >::vector ( ) const

inline

Definition at line 89 of file Translation.h.

{ return m_coeffs; }

x() [1/2]

template<typename Scalar_ , int Dim_>

Scalar& Eigen::Translation< Scalar_, Dim_ >::x ( )

inline

Returns the x-translation as a reference.

Definition at line 83 of file Translation.h.

{ return m_coeffs.x(); }

x() [2/2]

template<typename Scalar_ , int Dim_>

Scalar Eigen::Translation< Scalar_, Dim_ >::x ( ) const

inline

Returns the x-translation by value.

Definition at line 76 of file Translation.h.

{ return m_coeffs.x(); }

y() [1/2]

template<typename Scalar_ , int Dim_>

Scalar& Eigen::Translation< Scalar_, Dim_ >::y ( )

inline

Returns the y-translation as a reference.

Definition at line 85 of file Translation.h.

{ return m_coeffs.y(); }

y() [2/2]

template<typename Scalar_ , int Dim_>

Scalar Eigen::Translation< Scalar_, Dim_ >::y ( ) const

inline

Returns the y-translation by value.

Definition at line 78 of file Translation.h.

{ return m_coeffs.y(); }

z() [1/2]

template<typename Scalar_ , int Dim_>

Scalar& Eigen::Translation< Scalar_, Dim_ >::z ( )

inline

Returns the z-translation as a reference.

Definition at line 87 of file Translation.h.

{ return m_coeffs.z(); }

z() [2/2]

template<typename Scalar_ , int Dim_>

Scalar Eigen::Translation< Scalar_, Dim_ >::z ( ) const

inline

Returns the z-translation by value.

Definition at line 80 of file Translation.h.

{ return m_coeffs.z(); }

Member Data Documentation

m_coeffs

template<typename Scalar_ , int Dim_>

VectorType Eigen::Translation< Scalar_, Dim_ >::m_coeffs

protected

Definition at line 51 of file Translation.h.

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The documentation for this class was generated from the following files:

• ForwardDeclarations.h
• Translation.h