/usr/include/eigen3/Eigen/src/Eigen2Support/Geometry/Translation.h is in libeigen3-dev 3.2.2-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 | // This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
namespace Eigen {
/** \geometry_module \ingroup Geometry_Module
*
* \class Translation
*
* \brief Represents a translation transformation
*
* \param _Scalar the scalar type, i.e., the type of the coefficients.
* \param _Dim the dimension of the space, can be a compile time value or Dynamic
*
* \note This class is not aimed to be used to store a translation transformation,
* but rather to make easier the constructions and updates of Transform objects.
*
* \sa class Scaling, class Transform
*/
template<typename _Scalar, int _Dim>
class Translation
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
/** dimension of the space */
enum { Dim = _Dim };
/** the scalar type of the coefficients */
typedef _Scalar Scalar;
/** corresponding vector type */
typedef Matrix<Scalar,Dim,1> VectorType;
/** corresponding linear transformation matrix type */
typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
/** corresponding scaling transformation type */
typedef Scaling<Scalar,Dim> ScalingType;
/** corresponding affine transformation type */
typedef Transform<Scalar,Dim> TransformType;
protected:
VectorType m_coeffs;
public:
/** Default constructor without initialization. */
Translation() {}
/** */
inline Translation(const Scalar& sx, const Scalar& sy)
{
ei_assert(Dim==2);
m_coeffs.x() = sx;
m_coeffs.y() = sy;
}
/** */
inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
{
ei_assert(Dim==3);
m_coeffs.x() = sx;
m_coeffs.y() = sy;
m_coeffs.z() = sz;
}
/** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
const VectorType& vector() const { return m_coeffs; }
VectorType& vector() { return m_coeffs; }
/** Concatenates two translation */
inline Translation operator* (const Translation& other) const
{ return Translation(m_coeffs + other.m_coeffs); }
/** Concatenates a translation and a scaling */
inline TransformType operator* (const ScalingType& other) const;
/** Concatenates a translation and a linear transformation */
inline TransformType operator* (const LinearMatrixType& linear) const;
template<typename Derived>
inline TransformType operator*(const RotationBase<Derived,Dim>& r) const
{ return *this * r.toRotationMatrix(); }
/** Concatenates a linear transformation and a translation */
// its a nightmare to define a templated friend function outside its declaration
friend inline TransformType operator* (const LinearMatrixType& linear, const Translation& t)
{
TransformType res;
res.matrix().setZero();
res.linear() = linear;
res.translation() = linear * t.m_coeffs;
res.matrix().row(Dim).setZero();
res(Dim,Dim) = Scalar(1);
return res;
}
/** Concatenates a translation and an affine transformation */
inline TransformType operator* (const TransformType& t) const;
/** Applies translation to vector */
inline VectorType operator* (const VectorType& other) const
{ return m_coeffs + other; }
/** \returns the inverse translation (opposite) */
Translation inverse() const { return Translation(-m_coeffs); }
Translation& operator=(const Translation& other)
{
m_coeffs = other.m_coeffs;
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.
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
{ return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
{ m_coeffs = other.vector().template cast<Scalar>(); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
};
/** \addtogroup Geometry_Module */
//@{
typedef Translation<float, 2> Translation2f;
typedef Translation<double,2> Translation2d;
typedef Translation<float, 3> Translation3f;
typedef Translation<double,3> Translation3d;
//@}
template<typename Scalar, int Dim>
inline typename Translation<Scalar,Dim>::TransformType
Translation<Scalar,Dim>::operator* (const ScalingType& other) const
{
TransformType res;
res.matrix().setZero();
res.linear().diagonal() = other.coeffs();
res.translation() = m_coeffs;
res(Dim,Dim) = Scalar(1);
return res;
}
template<typename Scalar, int Dim>
inline typename Translation<Scalar,Dim>::TransformType
Translation<Scalar,Dim>::operator* (const LinearMatrixType& linear) const
{
TransformType res;
res.matrix().setZero();
res.linear() = linear;
res.translation() = m_coeffs;
res.matrix().row(Dim).setZero();
res(Dim,Dim) = Scalar(1);
return res;
}
template<typename Scalar, int Dim>
inline typename Translation<Scalar,Dim>::TransformType
Translation<Scalar,Dim>::operator* (const TransformType& t) const
{
TransformType res = t;
res.pretranslate(m_coeffs);
return res;
}
} // end namespace Eigen
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