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-rw-r--r--Eigen/src/Geometry/Transform.h112
1 files changed, 62 insertions, 50 deletions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index e8099495d..b2ed121b6 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -27,8 +27,10 @@
#ifndef EIGEN_TRANSFORM_H
#define EIGEN_TRANSFORM_H
+namespace internal {
+
template<typename Transform>
-struct ei_transform_traits
+struct transform_traits
{
enum
{
@@ -41,8 +43,8 @@ struct ei_transform_traits
template< typename TransformType,
typename MatrixType,
- bool IsProjective = ei_transform_traits<TransformType>::IsProjective>
-struct ei_transform_right_product_impl;
+ bool IsProjective = transform_traits<TransformType>::IsProjective>
+struct transform_right_product_impl;
template< typename Other,
int Mode,
@@ -50,14 +52,14 @@ template< typename Other,
int HDim,
int OtherRows=Other::RowsAtCompileTime,
int OtherCols=Other::ColsAtCompileTime>
-struct ei_transform_left_product_impl;
+struct transform_left_product_impl;
template< typename Lhs,
typename Rhs,
bool AnyProjective =
- ei_transform_traits<Lhs>::IsProjective ||
- ei_transform_traits<Lhs>::IsProjective>
-struct ei_transform_transform_product_impl;
+ transform_traits<Lhs>::IsProjective ||
+ transform_traits<Lhs>::IsProjective>
+struct transform_transform_product_impl;
template< typename Other,
int Mode,
@@ -65,9 +67,11 @@ template< typename Other,
int HDim,
int OtherRows=Other::RowsAtCompileTime,
int OtherCols=Other::ColsAtCompileTime>
-struct ei_transform_construct_from_matrix;
+struct transform_construct_from_matrix;
+
+template<typename TransformType> struct transform_take_affine_part;
-template<typename TransformType> struct ei_transform_take_affine_part;
+} // end namespace internal
/** \geometry_module \ingroup Geometry_Module
*
@@ -194,11 +198,11 @@ public:
/** type of read/write reference to the linear part of the transformation */
typedef Block<MatrixType,Dim,Dim> LinearPart;
/** type of read/write reference to the affine part of the transformation */
- typedef typename ei_meta_if<int(Mode)==int(AffineCompact),
+ typedef typename internal::meta_if<int(Mode)==int(AffineCompact),
MatrixType&,
Block<MatrixType,Dim,HDim> >::ret AffinePart;
/** type of read/write reference to the affine part of the transformation */
- typedef typename ei_meta_if<int(Mode)==int(AffineCompact),
+ typedef typename internal::meta_if<int(Mode)==int(AffineCompact),
MatrixType&,
Block<MatrixType,Dim,HDim> >::ret AffinePartNested;
/** type of a vector */
@@ -235,20 +239,20 @@ public:
inline Transform& operator=(const Transform& other)
{ m_matrix = other.m_matrix; return *this; }
- typedef ei_transform_take_affine_part<Transform> take_affine_part;
+ typedef internal::transform_take_affine_part<Transform> take_affine_part;
/** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
template<typename OtherDerived>
inline explicit Transform(const EigenBase<OtherDerived>& other)
{
- ei_transform_construct_from_matrix<OtherDerived,Mode,Dim,HDim>::run(this, other.derived());
+ internal::transform_construct_from_matrix<OtherDerived,Mode,Dim,HDim>::run(this, other.derived());
}
/** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
template<typename OtherDerived>
inline Transform& operator=(const EigenBase<OtherDerived>& other)
{
- ei_transform_construct_from_matrix<OtherDerived,Mode,Dim,HDim>::run(this, other.derived());
+ internal::transform_construct_from_matrix<OtherDerived,Mode,Dim,HDim>::run(this, other.derived());
return *this;
}
@@ -280,7 +284,7 @@ public:
else if(OtherModeIsAffineCompact)
{
typedef typename Transform<Scalar,Dim,OtherMode>::MatrixType OtherMatrixType;
- ei_transform_construct_from_matrix<OtherMatrixType,Mode,Dim,HDim>::run(this, other.matrix());
+ internal::transform_construct_from_matrix<OtherMatrixType,Mode,Dim,HDim>::run(this, other.matrix());
}
else
{
@@ -354,9 +358,9 @@ public:
*/
// note: this function is defined here because some compilers cannot find the respective declaration
template<typename OtherDerived>
- EIGEN_STRONG_INLINE const typename ei_transform_right_product_impl<Transform, OtherDerived>::ResultType
+ EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
operator * (const EigenBase<OtherDerived> &other) const
- { return ei_transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
+ { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
/** \returns the product expression of a transformation matrix \a a times a transform \a b
*
@@ -366,9 +370,9 @@ public:
* \li a general transformation matrix of size Dim+1 x Dim+1.
*/
template<typename OtherDerived> friend
- inline const typename ei_transform_left_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType
+ inline const typename internal::transform_left_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType
operator * (const EigenBase<OtherDerived> &a, const Transform &b)
- { return ei_transform_left_product_impl<OtherDerived,Mode,Dim,HDim>::run(a.derived(),b); }
+ { return internal::transform_left_product_impl<OtherDerived,Mode,Dim,HDim>::run(a.derived(),b); }
/** \returns The product expression of a transform \a a times a diagonal matrix \a b
*
@@ -407,16 +411,16 @@ public:
/** Concatenates two transformations */
inline const Transform operator * (const Transform& other) const
{
- return ei_transform_transform_product_impl<Transform,Transform>::run(*this,other);
+ return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
}
/** Concatenates two different transformations */
template<int OtherMode>
- inline const typename ei_transform_transform_product_impl<
+ inline const typename internal::transform_transform_product_impl<
Transform,Transform<Scalar,Dim,OtherMode> >::ResultType
operator * (const Transform<Scalar,Dim,OtherMode>& other) const
{
- return ei_transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode> >::run(*this,other);
+ return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode> >::run(*this,other);
}
/** \sa MatrixBase::setIdentity() */
@@ -495,8 +499,8 @@ public:
* then this function smartly returns a const reference to \c *this.
*/
template<typename NewScalarType>
- inline typename ei_cast_return_type<Transform,Transform<NewScalarType,Dim,Mode> >::type cast() const
- { return typename ei_cast_return_type<Transform,Transform<NewScalarType,Dim,Mode> >::type(*this); }
+ inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode> >::type cast() const
+ { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode> >::type(*this); }
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
@@ -765,7 +769,7 @@ Transform<Scalar,Dim,Mode>::pretranslate(const MatrixBase<OtherDerived> &other)
* to \c *this and returns a reference to \c *this.
*
* The template parameter \a RotationType is the type of the rotation which
- * must be known by ei_toRotationMatrix<>.
+ * must be known by internal::toRotationMatrix<>.
*
* Natively supported types includes:
* - any scalar (2D),
@@ -783,7 +787,7 @@ template<typename RotationType>
Transform<Scalar,Dim,Mode>&
Transform<Scalar,Dim,Mode>::rotate(const RotationType& rotation)
{
- linearExt() *= ei_toRotationMatrix<Scalar,Dim>(rotation);
+ linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
return *this;
}
@@ -799,7 +803,7 @@ template<typename RotationType>
Transform<Scalar,Dim,Mode>&
Transform<Scalar,Dim,Mode>::prerotate(const RotationType& rotation)
{
- m_matrix.template block<Dim,HDim>(0,0) = ei_toRotationMatrix<Scalar,Dim>(rotation)
+ m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
* m_matrix.template block<Dim,HDim>(0,0);
return *this;
}
@@ -877,7 +881,7 @@ template<typename Scalar, int Dim, int Mode>
template<typename Derived>
inline Transform<Scalar,Dim,Mode>& Transform<Scalar,Dim,Mode>::operator=(const RotationBase<Derived,Dim>& r)
{
- linear() = ei_toRotationMatrix<Scalar,Dim>(r);
+ linear() = internal::toRotationMatrix<Scalar,Dim>(r);
translation().setZero();
makeAffine();
return *this;
@@ -980,23 +984,25 @@ Transform<Scalar,Dim,Mode>&
Transform<Scalar,Dim,Mode>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
{
- linear() = ei_toRotationMatrix<Scalar,Dim>(orientation);
+ linear() = internal::toRotationMatrix<Scalar,Dim>(orientation);
linear() *= scale.asDiagonal();
translation() = position;
makeAffine();
return *this;
}
+namespace internal {
+
// selector needed to avoid taking the inverse of a 3x4 matrix
template<typename TransformType, int Mode=TransformType::Mode>
-struct ei_projective_transform_inverse
+struct projective_transform_inverse
{
static inline void run(const TransformType&, TransformType&)
{}
};
template<typename TransformType>
-struct ei_projective_transform_inverse<TransformType, Projective>
+struct projective_transform_inverse<TransformType, Projective>
{
static inline void run(const TransformType& m, TransformType& res)
{
@@ -1004,6 +1010,8 @@ struct ei_projective_transform_inverse<TransformType, Projective>
}
};
+} // end namespace internal
+
/**
*
@@ -1031,7 +1039,7 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
Transform res;
if (hint == Projective)
{
- ei_projective_transform_inverse<Transform>::run(*this, res);
+ internal::projective_transform_inverse<Transform>::run(*this, res);
}
else
{
@@ -1045,7 +1053,7 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
}
else
{
- ei_assert(false && "Invalid transform traits in Transform::Inverse");
+ eigen_assert(false && "Invalid transform traits in Transform::Inverse");
}
// translation and remaining parts
res.matrix().template topRightCorner<Dim,1>()
@@ -1055,11 +1063,13 @@ Transform<Scalar,Dim,Mode>::inverse(TransformTraits hint) const
return res;
}
+namespace internal {
+
/*****************************************************
*** Specializations of take affine part ***
*****************************************************/
-template<typename TransformType> struct ei_transform_take_affine_part {
+template<typename TransformType> struct transform_take_affine_part {
typedef typename TransformType::MatrixType MatrixType;
typedef typename TransformType::AffinePart AffinePart;
static inline AffinePart run(MatrixType& m)
@@ -1069,7 +1079,7 @@ template<typename TransformType> struct ei_transform_take_affine_part {
};
template<typename Scalar, int Dim>
-struct ei_transform_take_affine_part<Transform<Scalar,Dim,AffineCompact> > {
+struct transform_take_affine_part<Transform<Scalar,Dim,AffineCompact> > {
typedef typename Transform<Scalar,Dim,AffineCompact>::MatrixType MatrixType;
static inline MatrixType& run(MatrixType& m) { return m; }
static inline const MatrixType& run(const MatrixType& m) { return m; }
@@ -1080,7 +1090,7 @@ struct ei_transform_take_affine_part<Transform<Scalar,Dim,AffineCompact> > {
*****************************************************/
template<typename Other, int Mode, int Dim, int HDim>
-struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,Dim>
+struct transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,Dim>
{
static inline void run(Transform<typename Other::Scalar,Dim,Mode> *transform, const Other& other)
{
@@ -1091,7 +1101,7 @@ struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,Dim>
};
template<typename Other, int Mode, int Dim, int HDim>
-struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,HDim>
+struct transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,HDim>
{
static inline void run(Transform<typename Other::Scalar,Dim,Mode> *transform, const Other& other)
{
@@ -1101,14 +1111,14 @@ struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, Dim,HDim>
};
template<typename Other, int Mode, int Dim, int HDim>
-struct ei_transform_construct_from_matrix<Other, Mode,Dim,HDim, HDim,HDim>
+struct transform_construct_from_matrix<Other, Mode,Dim,HDim, HDim,HDim>
{
static inline void run(Transform<typename Other::Scalar,Dim,Mode> *transform, const Other& other)
{ transform->matrix() = other; }
};
template<typename Other, int Dim, int HDim>
-struct ei_transform_construct_from_matrix<Other, AffineCompact,Dim,HDim, HDim,HDim>
+struct transform_construct_from_matrix<Other, AffineCompact,Dim,HDim, HDim,HDim>
{
static inline void run(Transform<typename Other::Scalar,Dim,AffineCompact> *transform, const Other& other)
{ transform->matrix() = other.template block<Dim,HDim>(0,0); }
@@ -1119,7 +1129,7 @@ struct ei_transform_construct_from_matrix<Other, AffineCompact,Dim,HDim, HDim,HD
**********************************************************/
template<int LhsMode,int RhsMode>
-struct ei_transform_product_result
+struct transform_product_result
{
enum
{
@@ -1132,7 +1142,7 @@ struct ei_transform_product_result
};
template< typename TransformType, typename MatrixType >
-struct ei_transform_right_product_impl< TransformType, MatrixType, true >
+struct transform_right_product_impl< TransformType, MatrixType, true >
{
typedef typename MatrixType::PlainObject ResultType;
@@ -1143,7 +1153,7 @@ struct ei_transform_right_product_impl< TransformType, MatrixType, true >
};
template< typename TransformType, typename MatrixType >
-struct ei_transform_right_product_impl< TransformType, MatrixType, false >
+struct transform_right_product_impl< TransformType, MatrixType, false >
{
enum {
Dim = TransformType::Dim,
@@ -1181,7 +1191,7 @@ struct ei_transform_right_product_impl< TransformType, MatrixType, false >
// generic HDim x HDim matrix * T => Projective
template<typename Other,int Mode, int Dim, int HDim>
-struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, HDim,HDim>
+struct transform_left_product_impl<Other,Mode,Dim,HDim, HDim,HDim>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef typename TransformType::MatrixType MatrixType;
@@ -1192,7 +1202,7 @@ struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, HDim,HDim>
// generic HDim x HDim matrix * AffineCompact => Projective
template<typename Other, int Dim, int HDim>
-struct ei_transform_left_product_impl<Other,AffineCompact,Dim,HDim, HDim,HDim>
+struct transform_left_product_impl<Other,AffineCompact,Dim,HDim, HDim,HDim>
{
typedef Transform<typename Other::Scalar,Dim,AffineCompact> TransformType;
typedef typename TransformType::MatrixType MatrixType;
@@ -1208,7 +1218,7 @@ struct ei_transform_left_product_impl<Other,AffineCompact,Dim,HDim, HDim,HDim>
// affine matrix * T
template<typename Other,int Mode, int Dim, int HDim>
-struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, Dim,HDim>
+struct transform_left_product_impl<Other,Mode,Dim,HDim, Dim,HDim>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef typename TransformType::MatrixType MatrixType;
@@ -1224,7 +1234,7 @@ struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, Dim,HDim>
// affine matrix * AffineCompact
template<typename Other, int Dim, int HDim>
-struct ei_transform_left_product_impl<Other,AffineCompact,Dim,HDim, Dim,HDim>
+struct transform_left_product_impl<Other,AffineCompact,Dim,HDim, Dim,HDim>
{
typedef Transform<typename Other::Scalar,Dim,AffineCompact> TransformType;
typedef typename TransformType::MatrixType MatrixType;
@@ -1240,7 +1250,7 @@ struct ei_transform_left_product_impl<Other,AffineCompact,Dim,HDim, Dim,HDim>
// linear matrix * T
template<typename Other,int Mode, int Dim, int HDim>
-struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, Dim,Dim>
+struct transform_left_product_impl<Other,Mode,Dim,HDim, Dim,Dim>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef typename TransformType::MatrixType MatrixType;
@@ -1261,9 +1271,9 @@ struct ei_transform_left_product_impl<Other,Mode,Dim,HDim, Dim,Dim>
**********************************************************/
template<typename Scalar, int Dim, int LhsMode, int RhsMode>
-struct ei_transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transform<Scalar,Dim,RhsMode>,false >
+struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transform<Scalar,Dim,RhsMode>,false >
{
- enum { ResultMode = ei_transform_product_result<LhsMode,RhsMode>::Mode };
+ enum { ResultMode = transform_product_result<LhsMode,RhsMode>::Mode };
typedef Transform<Scalar,Dim,LhsMode> Lhs;
typedef Transform<Scalar,Dim,RhsMode> Rhs;
typedef Transform<Scalar,Dim,ResultMode> ResultType;
@@ -1278,7 +1288,7 @@ struct ei_transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transfo
};
template<typename Scalar, int Dim, int LhsMode, int RhsMode>
-struct ei_transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transform<Scalar,Dim,RhsMode>,true >
+struct transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transform<Scalar,Dim,RhsMode>,true >
{
typedef Transform<Scalar,Dim,LhsMode> Lhs;
typedef Transform<Scalar,Dim,RhsMode> Rhs;
@@ -1289,4 +1299,6 @@ struct ei_transform_transform_product_impl<Transform<Scalar,Dim,LhsMode>,Transfo
}
};
+} // end namespace internal
+
#endif // EIGEN_TRANSFORM_H
generated by cgit v1.2.3 (git 2.39.1) at 2024-05-23 16:51:14 +0000