diff options
| -rw-r--r-- | Eigen/src/Geometry/ParametrizedLine.h | 39 | ||||
| -rw-r--r-- | test/geo_parametrizedline.cpp | 27 |
2 files changed, 65 insertions, 1 deletions
diff --git a/Eigen/src/Geometry/ParametrizedLine.h b/Eigen/src/Geometry/ParametrizedLine.h index 1e985d8cd..3929ca87f 100644 --- a/Eigen/src/Geometry/ParametrizedLine.h +++ b/Eigen/src/Geometry/ParametrizedLine.h @@ -104,7 +104,44 @@ public: template <int OtherOptions> EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; - /** \returns \c *this with scalar type casted to \a NewScalarType + /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this. + * + * \param mat the Dim x Dim transformation matrix + * \param traits specifies whether the matrix \a mat represents an #Isometry + * or a more generic #Affine transformation. The default is #Affine. + */ + template<typename XprType> + EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine) + { + if (traits==Affine) + direction() = (mat * direction()).normalized(); + else if (traits==Isometry) + direction() = mat * direction(); + else + { + eigen_assert(0 && "invalid traits value in ParametrizedLine::transform()"); + } + origin() = mat * origin(); + return *this; + } + + /** Applies the transformation \a t to \c *this and returns a reference to \c *this. + * + * \param t the transformation of dimension Dim + * \param traits specifies whether the transformation \a t represents an #Isometry + * or a more generic #Affine transformation. The default is #Affine. + * Other kind of transformations are not supported. + */ + template<int TrOptions> + EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t, + TransformTraits traits = Affine) + { + transform(t.linear(), traits); + origin() += t.translation(); + return *this; + } + +/** \returns \c *this with scalar type casted to \a NewScalarType * * Note that if \a NewScalarType is equal to the current scalar type of \c *this * then this function smartly returns a const reference to \c *this. diff --git a/test/geo_parametrizedline.cpp b/test/geo_parametrizedline.cpp index 9bf5f3c1d..29c1b105c 100644 --- a/test/geo_parametrizedline.cpp +++ b/test/geo_parametrizedline.cpp @@ -25,6 +25,8 @@ template<typename LineType> void parametrizedline(const LineType& _line) typedef typename NumTraits<Scalar>::Real RealScalar; typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType; typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType; + typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, + HyperplaneType::AmbientDimAtCompileTime> MatrixType; VectorType p0 = VectorType::Random(dim); VectorType p1 = VectorType::Random(dim); @@ -59,6 +61,31 @@ template<typename LineType> void parametrizedline(const LineType& _line) VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1)); VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1)); VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi); + + // transform + if (!NumTraits<Scalar>::IsComplex) + { + MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ(); + DiagonalMatrix<Scalar,LineType::AmbientDimAtCompileTime> scaling(VectorType::Random()); + Translation<Scalar,LineType::AmbientDimAtCompileTime> translation(VectorType::Random()); + + while(scaling.diagonal().cwiseAbs().minCoeff()<RealScalar(1e-4)) scaling.diagonal() = VectorType::Random(); + + LineType l1 = l0; + VectorType p3 = l0.pointAt(Scalar(1)); + VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot).distance(rot * p3), Scalar(1) ); + l1 = l0; + VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot,Isometry).distance(rot * p3), Scalar(1) ); + l1 = l0; + VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling).distance((rot*scaling) * p3), Scalar(1) ); + l1 = l0; + VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling*translation) + .distance((rot*scaling*translation) * p3), Scalar(1) ); + l1 = l0; + VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*translation,Isometry) + .distance((rot*translation) * p3), Scalar(1) ); + } + } template<typename Scalar> void parametrizedline_alignment() |