From 85fdcdf0554918a485112ed078417379f691d01b Mon Sep 17 00:00:00 2001 From: Hauke Heibel Date: Tue, 17 Aug 2010 20:03:50 +0200 Subject: Fixed Geometry module failures. Removed default parameter from Transform. Removed the TransformXX typedefs. Removed references to TransformXX from unit tests and docs. Assigning Transforms to a sub-group is now forbidden at compile time. Products should now properly support the Isometry flag. Fixed alignment checks in MapBase. --- doc/C08_TutorialGeometry.dox | 8 ++++---- doc/I05_FixedSizeVectorizable.dox | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) (limited to 'doc') diff --git a/doc/C08_TutorialGeometry.dox b/doc/C08_TutorialGeometry.dox index f8a53dc67..a824cde04 100644 --- a/doc/C08_TutorialGeometry.dox +++ b/doc/C08_TutorialGeometry.dox @@ -18,7 +18,7 @@ Eigen's Geometry module provides two different kinds of geometric transformation - Abstract transformations, such as rotations (represented by \ref AngleAxis "angle and axis" or by a \ref Quaternion "quaternion"), \ref Translation "translations", \ref Scaling "scalings". These transformations are NOT represented as matrices, but you can nevertheless mix them with matrices and vectors in expressions, and convert them to matrices if you wish. - Projective or affine transformation matrices: see the Transform class. These are really matrices. -\note If you are working with OpenGL 4x4 matrices then Transform3f and Transform3d are what you want. Since Eigen defaults to column-major storage, you can directly use the Transform::data() method to pass your transformation matrix to OpenGL. +\note If you are working with OpenGL 4x4 matrices then Affine3f and Affine3d are what you want. Since Eigen defaults to column-major storage, you can directly use the Transform::data() method to pass your transformation matrix to OpenGL. You can construct a Transform from an abstract transformation, like this: \code @@ -93,8 +93,8 @@ AngleAxisf aa = Quaternionf(..); AngleAxisf aa = Matrix3f(..); // assumes a pure rotation matrix Matrix2f m = Rotation2Df(..); Matrix3f m = Quaternionf(..); Matrix3f m = Scaling3f(..); -Transform3f m = AngleAxis3f(..); Transform3f m = Scaling3f(..); -Transform3f m = Translation3f(..); Transform3f m = Matrix3f(..); +Affine3f m = AngleAxis3f(..); Affine3f m = Scaling3f(..); +Affine3f m = Translation3f(..); Affine3f m = Matrix3f(..); \endcode @@ -147,7 +147,7 @@ OpenGL compatibility \b 3D \code glLoadMatrixf(t.data());\endcode OpenGL compatibility \b 2D \code -Transform3f aux(Transform3f::Identity); +Affine3f aux(Affine3f::Identity); aux.linear().topLeftCorner<2,2>() = t.linear(); aux.translation().start<2>() = t.translation(); glLoadMatrixf(aux.data());\endcode diff --git a/doc/I05_FixedSizeVectorizable.dox b/doc/I05_FixedSizeVectorizable.dox index db8f10b5c..192ea7406 100644 --- a/doc/I05_FixedSizeVectorizable.dox +++ b/doc/I05_FixedSizeVectorizable.dox @@ -16,8 +16,8 @@ Examples include: \li Eigen::Matrix2f \li Eigen::Matrix4d \li Eigen::Matrix4f -\li Eigen::Transform3d -\li Eigen::Transform3f +\li Eigen::Affine3d +\li Eigen::Affine3f \li Eigen::Quaterniond \li Eigen::Quaternionf -- cgit v1.2.3