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Diffstat (limited to 'doc/QuickStartGuide.dox')
| -rw-r--r-- | doc/QuickStartGuide.dox | 65 |
1 files changed, 45 insertions, 20 deletions
diff --git a/doc/QuickStartGuide.dox b/doc/QuickStartGuide.dox index 62be8ec21..cf37f02be 100644 --- a/doc/QuickStartGuide.dox +++ b/doc/QuickStartGuide.dox @@ -569,8 +569,8 @@ m = AngleAxisf(angle1, Vector3f::UnitZ()) <a href="#" class="top">top</a>\section TutorialGeoTransformation Affine transformations In Eigen we have chosen to not distinghish between points and vectors such that all points are -actually represented by displacement vector from the origine (pt \~ pt-0). With that in mind, -real points and vector distinguish when the rotation is applied. +actually represented by displacement vectors from the origine ( \f$ \mathbf{p} \equiv \mathbf{p}-0 \f$ ). +With that in mind, real points and vector distinguish when the rotation is applied. <table class="tutorial_code"> <tr><td></td><td>\b 3D </td><td>\b 2D </td></tr> <tr><td>Creation \n <span class="note">rot2D can also be an angle in radian</span></td><td>\code @@ -606,6 +606,17 @@ aux.linear().corner<2,2>(TopLeft) = t.linear(); aux.translation().start<2>() = t.translation(); glLoadMatrixf(aux.data());\endcode</td></tr> <tr><td colspan="3">\b Component \b accessors</td></tr> +<tr><td>full read-write access to the internal matrix</td><td>\code +t.matrix() = mat4x4; +mat4x4 = t.matrix(); +\endcode</td><td>\code +t.matrix() = mat3x3; +mat3x3 = t.matrix(); +\endcode</td></tr> +<tr><td>coefficient accessors</td><td colspan="2">\code +t(i,j) = scalar; <=> t.matrix()(i,j) = scalar; +scalar = t(i,j); <=> scalar = t.matrix()(i,j); +\endcode</td></tr> <tr><td>translation part</td><td>\code t.translation() = vec3; vec3 = t.translation(); @@ -620,36 +631,50 @@ mat3x3 = t.linear(); t.linear() = mat2x2; mat2x2 = t.linear(); \endcode</td></tr> -<tr><td colspan="3">\b Editing \b shortcuts</td></tr> +</table> + +\b Transformation \b creation \n +Eigen's geometry module offer two different ways to build and update transformation objects. +<table class="tutorial_code"> +<tr><td></td><td>\b procedurale \b API </td><td>\b natural \b API </td></tr> <tr><td>Applies a translation</td><td>\code -t.translate(Vector3f(tx, ty, tz)); -t.pretranslate(Vector3f(tx, ty, tz)); +t.translate(Vector3(tx, ty, ...)); +t.pretranslate(Vector3(tx, ty, ...)); \endcode</td><td>\code -t.translate(Vector2f(tx, ty)); -t.pretranslate(Vector2f(tx, ty)); +t *= Translation(tx, ty, ...); +t = Translation(tx, ty, ...) * t; \endcode</td></tr> -<tr><td>Applies a rotation \n <span class="note">rot2D can also be an angle in radian</span></td><td>\code -t.rotate(rot3D); -t.prerotate(rot3D); +<tr><td>Applies a rotation \n <span class="note">In 2D, any_rotation can also be \n an angle in radian</span></td><td>\code +t.rotate(any_rotation); +t.prerotate(any_rotation); \endcode</td><td>\code -t.rotate(rot2D); -t.prerotate(rot2D); +t *= any_rotation; +t = any_rotation * t; \endcode</td></tr> <tr><td>Applies a scaling</td><td>\code -t.scale(Vector3f(sx, sy, sz)); -t.scale(Vector3f::Constant(s)); -t.prescale(Vector3f(sx, sy, sz)); +t.scale(Vector(sx, sy, ...)); +t.scale(Vector::Constant(s)); +t.prescale(Vector3f(sx, sy, ...)); \endcode</td><td>\code -t.scale(Vector2f(sx, sy)); -t.scale(Vector2f::Constant(s)); -t.prescale(Vector2f(sx, sy)); +t *= Scaling(sx, sy, ...); +t *= Scaling(s); +t = Scaling(sx, sy, ...) * t; \endcode</td></tr> -<tr><td>Applies a shear transformation \n(2D only)</td><td></td><td>\code +<tr><td>Applies a shear transformation \n ( \b 2D \b only ! )</td><td>\code t.shear(sx,sy); t.preshear(sx,sy); -\endcode</td></tr> +\endcode</td><td></td></tr> </table> +Note that in both API, any many transformations can be concatenated in a single lines as shown in the two following equivalent examples: +<table class="tutorial_code"> +<tr><td>\code +t.pretranslate(..).rotate(..).translate(..).scale(..); +\endcode</td></tr> +<tr><td>\code +t = Translation(..) * t * RotationType(..) * Translation(..) * Scaling(..); +\endcode</td></tr> +</table> */ |