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-rw-r--r--Eigen/src/Geometry/Hyperplane.h11
-rw-r--r--Eigen/src/Geometry/Transform.h58
2 files changed, 21 insertions, 48 deletions
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h
index 936808ec2..6cf128712 100644
--- a/Eigen/src/Geometry/Hyperplane.h
+++ b/Eigen/src/Geometry/Hyperplane.h
@@ -229,14 +229,11 @@ class Hyperplane
}
template<typename XprType>
- inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = GenericAffine)
+ inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
{
- if (traits==GenericAffine)
+ if (traits==Affine)
normal() = mat.inverse().transpose() * normal();
- else if (traits==NoShear)
- normal() = (mat.colwise().norm2().cwise().inverse().eval().asDiagonal()
- * mat.transpose()).transpose() * normal();
- else if (traits==NoScaling)
+ else if (traits==Isometry)
normal() = mat * normal();
else
{
@@ -246,7 +243,7 @@ class Hyperplane
}
inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
- TransformTraits traits = GenericAffine)
+ TransformTraits traits = Affine)
{
transform(t.linear(), traits);
offset() -= t.translation().dot(normal());
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index 3586fb60f..37ac00d75 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -27,10 +27,9 @@
/** Represents some traits of a transformation */
enum TransformTraits {
- NoScaling, ///< the transformation is a concatenation of translations, rotations
- NoShear, ///< the transformation is a concatenation of translations, rotations and scalings
- GenericAffine, ///< the transformation is affine (linear transformation + translation)
- NonAffine ///< the transformation might not be affine
+ Isometry, ///< the transformation is a concatenation of translations and rotations
+ Affine, ///< the transformation is affine (linear transformation + translation)
+ Projective ///< the transformation might not be affine
};
// Note that we have to pass Dim and HDim because it is not allowed to use a template
@@ -231,13 +230,13 @@ public:
template<typename Derived>
inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
- LinearMatrixType extractRotation(TransformTraits traits = GenericAffine) const;
+ LinearMatrixType extractRotation(TransformTraits traits = Affine) const;
template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
- inline const MatrixType inverse(TransformTraits traits = GenericAffine) const;
+ inline const MatrixType inverse(TransformTraits traits = Affine) const;
const Scalar* data() const { return m_matrix.data(); }
Scalar* data() { return m_matrix.data(); }
@@ -545,9 +544,8 @@ inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase
*
* \param traits allows to optimize the extraction process when the transformion
* is known to be not a general aafine transformation. The possible values are:
- * - GenericAffine which use a QR decomposition (default),
- * - NoShear which is the most probable case and very fast,
- * - NoScaling which simply returns the linear part !
+ * - Affine which use a QR decomposition (default),
+ * - Isometry which simply returns the linear part !
*
* \warning this function consider the scaling is positive
*
@@ -560,8 +558,8 @@ template<typename Scalar, int Dim>
typename Transform<Scalar,Dim>::LinearMatrixType
Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
{
- ei_assert(traits!=NonAffine && "you cannot extract a rotation from a non affine transformation");
- if (traits == GenericAffine)
+ ei_assert(traits!=Projective && "you cannot extract a rotation from a non affine transformation");
+ if (traits == Affine)
{
// FIXME maybe QR should be fixed to return a R matrix with a positive diagonal ??
QR<LinearMatrixType> qr(linear());
@@ -572,18 +570,11 @@ Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
matQ.col(i) = -matQ.col(i);
return matQ;
}
- else if (traits == NoShear)
- {
- // extract linear = rotation * scaling
- // => rotation = linear * inv(Scaling)
- VectorType invScaling = linear().colwise().norm().cwise().inverse();
- return linear() * invScaling.asDiagonal();
- }
- else if (traits == NoScaling) // though that's stupid let's handle it !
+ else if (traits == Isometry) // though that's stupid let's handle it !
return linear();
else
{
- ei_assert("invalid traits value in Transform::inverse()");
+ ei_assert("invalid traits value in Transform::extractRotation()");
return LinearMatrixType();
}
}
@@ -610,12 +601,10 @@ Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDer
*
* \param traits allows to optimize the inversion process when the transformion
* is known to be not a general transformation. The possible values are:
- * - NonAffine if the transformation is not necessarily affines, i.e., if the
+ * - Projective if the transformation is not necessarily affine, i.e., if the
* last row is not guaranteed to be [0 ... 0 1]
- * - GenericAffine is the default, the last row is assumed to be [0 ... 0 1]
- * - NoShear if the transformation is only a concatenations of translations,
- * rotations, and scalings.
- * - NoScaling if the transformation is only a concatenations of translations
+ * - Affine is the default, the last row is assumed to be [0 ... 0 1]
+ * - Isometry if the transformation is only a concatenations of translations
* and rotations.
*
* \warning unless \a traits is always set to NoShear or NoScaling, this function
@@ -628,31 +617,18 @@ template<typename Scalar, int Dim>
inline const typename Transform<Scalar,Dim>::MatrixType
Transform<Scalar,Dim>::inverse(TransformTraits traits) const
{
- if (traits == NonAffine)
+ if (traits == Projective)
{
return m_matrix.inverse();
}
else
{
MatrixType res;
- if (traits == GenericAffine)
+ if (traits == Affine)
{
res.template corner<Dim,Dim>(TopLeft) = linear().inverse();
}
- else if (traits == NoShear)
- {
- // extract linear = rotation * scaling
- // then inv(linear) = inv(scaling) * inv(rotation)
- // = inv(scaling) * trans(rotation)
- // = inv(scaling) * trans(inv(scaling)) * trans(A)
- // = inv(scaling) * inv(scaling) * trans(A)
- // = inv(scaling)^2 * trans(A)
- // = scaling^-2 * trans(A)
- // with scaling[i] = A.col(i).norm()
- VectorType invScaling2 = linear().colwise().norm2().cwise().inverse();
- res.template corner<Dim,Dim>(TopLeft) = (invScaling2.asDiagonal() * linear().transpose()).lazy();
- }
- else if (traits == NoScaling)
+ else if (traits == Isometry)
{
res.template corner<Dim,Dim>(TopLeft) = linear().transpose();
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-04 20:53:56 +0000