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<li class="navelem"><a class="el" href="namespace_eigen.html">Eigen</a> </li>
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<div class="title">Eigen::Transform Class Reference<div class="ingroups"><a class="el" href="group___geometry___module.html">Geometry module</a></div></div> </div>
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<!-- doxytag: class="Eigen::Transform" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Represents an homogeneous transformation in a N dimensional space</p>
<dl><dt><b>Template Parameters:</b></dt><dd>
<table class="">
<tr><td class="paramname">_Scalar</td><td>the scalar type, i.e., the type of the coefficients </td></tr>
<tr><td class="paramname">_Dim</td><td>the dimension of the space </td></tr>
<tr><td class="paramname">_Mode</td><td>the type of the transformation. Can be:<ul>
<li><a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb" title="Transformation is an affine transformation stored as a (Dim+1)^2 matrix whose last row is assumed to ...">Affine</a>: the transformation is stored as a (Dim+1)^2 matrix, where the last row is assumed to be [0 ... 0 1].</li>
<li><a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490" title="Transformation is an affine transformation stored as a (Dim) x (Dim+1) matrix.">AffineCompact</a>: the transformation is stored as a (Dim)x(Dim+1) matrix.</li>
<li><a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183" title="Transformation is a general projective transformation stored as a (Dim+1)^2 matrix.">Projective</a>: the transformation is stored as a (Dim+1)^2 matrix without any assumption. </li>
</ul>
</td></tr>
<tr><td class="paramname">_Options</td><td>has the same meaning as in class <a class="el" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a>. It allows to specify DontAlign and/or RowMajor. These Options are passed directly to the underlying matrix type.</td></tr>
</table>
</dd>
</dl>
<p>The homography is internally represented and stored by a matrix which is available through the <a class="el" href="class_eigen_1_1_transform.html#ad46a7d18e8e6f067b6ab304ca34edc46">matrix()</a> method. To understand the behavior of this class you have to think a <a class="el" href="class_eigen_1_1_transform.html">Transform</a> object as its internal matrix representation. The chosen convention is right multiply:</p>
<div class="fragment"><pre class="fragment"> v<span class="stringliteral">' = T * v </span>
</pre></div><p>Therefore, an affine transformation matrix M is shaped like this:</p>
<p><img class="formulaInl" alt="$ \left( \begin{array}{cc} linear & translation\\ 0 ... 0 & 1 \end{array} \right) $" src="form_210.png"/></p>
<p>Note that for a projective transformation the last row can be anything, and then the interpretation of different parts might be sightly different.</p>
<p>However, unlike a plain matrix, the <a class="el" href="class_eigen_1_1_transform.html">Transform</a> class provides many features simplifying both its assembly and usage. In particular, it can be composed with any other transformations (<a class="el" href="class_eigen_1_1_transform.html">Transform</a>,<a class="el" href="class_eigen_1_1_translation.html">Translation</a>,<a class="el" href="class_eigen_1_1_rotation_base.html" title="Common base class for compact rotation representations.">RotationBase</a>,<a class="el" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a>) and can be directly used to transform implicit homogeneous vectors. All these operations are handled via the operator*. For the composition of transformations, its principle consists to first convert the right/left hand sides of the product to a compatible (Dim+1)^2 matrix and then perform a pure matrix product. Of course, internally, operator* tries to perform the minimal number of operations according to the nature of each terms. Likewise, when applying the transform to non homogeneous vectors, the latters are automatically promoted to homogeneous one before doing the matrix product. The convertions to homogeneous representations are performed as follow:</p>
<p><b><a class="el" href="class_eigen_1_1_translation.html">Translation</a></b> t (Dim)x(1): <img class="formulaInl" alt="$ \left( \begin{array}{cc} I & t \\ 0\,...\,0 & 1 \end{array} \right) $" src="form_211.png"/></p>
<p><b>Rotation</b> R (Dim)x(Dim): <img class="formulaInl" alt="$ \left( \begin{array}{cc} R & 0\\ 0\,...\,0 & 1 \end{array} \right) $" src="form_212.png"/></p>
<p><b>Linear</b> <b><a class="el" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a></b> L (Dim)x(Dim): <img class="formulaInl" alt="$ \left( \begin{array}{cc} L & 0\\ 0\,...\,0 & 1 \end{array} \right) $" src="form_213.png"/></p>
<p><b>Affine</b> <b><a class="el" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a></b> A (Dim)x(Dim+1): <img class="formulaInl" alt="$ \left( \begin{array}{c} A\\ 0\,...\,0\,1 \end{array} \right) $" src="form_214.png"/></p>
<p><b>Column</b> <b>vector</b> v (Dim)x(1): <img class="formulaInl" alt="$ \left( \begin{array}{c} v\\ 1 \end{array} \right) $" src="form_215.png"/></p>
<p><b>Set</b> <b>of</b> <b>column</b> <b>vectors</b> V1...Vn (Dim)x(n): <img class="formulaInl" alt="$ \left( \begin{array}{ccc} v_1 & ... & v_n\\ 1 & ... & 1 \end{array} \right) $" src="form_216.png"/></p>
<p>The concatenation of a <a class="el" href="class_eigen_1_1_transform.html">Transform</a> object with any kind of other transformation always returns a <a class="el" href="class_eigen_1_1_transform.html">Transform</a> object.</p>
<p>A little exception to the "as pure matrix product" rule is the case of the transformation of non homogeneous vectors by an affine transformation. In that case the last matrix row can be ignored, and the product returns non homogeneous vectors.</p>
<p>Since, for instance, a Dim x Dim matrix is interpreted as a linear transformation, it is not possible to directly transform Dim vectors stored in a Dim x Dim matrix. The solution is either to use a Dim x Dynamic matrix or explicitly request a vector transformation by making the vector homogeneous: </p>
<div class="fragment"><pre class="fragment"> m<span class="stringliteral">' = T * m.colwise().homogeneous();</span>
</pre></div><p> Note that there is zero overhead.</p>
<p>Conversion methods from/to Qt's QMatrix and QTransform are available if the preprocessor token EIGEN_QT_SUPPORT is defined.</p>
<p>This class can be extended with the help of the plugin mechanism described on the page TopicCustomizingEigen by defining the preprocessor symbol <code>EIGEN_TRANSFORM_PLUGIN</code>.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>class <a class="el" href="class_eigen_1_1_matrix.html" title="The matrix class, also used for vectors and row-vectors.">Matrix</a>, class <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> </dd></dl>
</div>
<p><a href="class_eigen_1_1_transform-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="class_eigen_1_1_transform.html#acfe57647c31beca04e6b958be20e9da2a76ccb9a3f5a590529d08f6563f9f6d51">TransformTimeDiagonalMode</a> = ((Mode==int(Isometry))?Affine:int(Mode))
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef _Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">the scalar type of the coefficients <a href="#aa068ea7b07c68c8ae5efb540416ffbbd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="namespace_eigen.html#aa06499c94936a19673e53deb516a1b76">DenseIndex</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a599a7fb463eb925605239620342e9bec">Index</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="class_eigen_1_1internal_1_1make__proper__matrix__type.html">internal::make_proper_matrix_type</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Rows, HDim, Options ><br class="typebreak"/>
::type </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of the matrix used to represent the transformation <a href="#ade0fbd1fcacd613083e63671bc7ea1fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef const <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a1b30c4289c4f13b5dbc7ffdf99412fc7">ConstMatrixType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">constified MatrixType <a href="#a1b30c4289c4f13b5dbc7ffdf99412fc7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, <br class="typebreak"/>
Dim, Options > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a607434a96cb732a951af896fa5c27634">LinearMatrixType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of the matrix used to represent the linear part of the transformation <a href="#a607434a96cb732a951af896fa5c27634"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_block.html">Block</a>< <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, Dim, <br class="typebreak"/>
Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ab55edb96d7c1465f41597c003619d5f6">LinearPart</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of read/write reference to the linear part of the transformation <a href="#ab55edb96d7c1465f41597c003619d5f6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef const <a class="el" href="class_eigen_1_1_block.html">Block</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html#a1b30c4289c4f13b5dbc7ffdf99412fc7">ConstMatrixType</a>, Dim, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a070e373efc576d256e45468b0b99ff16">ConstLinearPart</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of read reference to the linear part of the transformation <a href="#a070e373efc576d256e45468b0b99ff16"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="struct_eigen_1_1internal_1_1conditional.html">internal::conditional</a><br class="typebreak"/>
< int(Mode)==int(AffineCompact), <br class="typebreak"/>
<a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> &, <a class="el" href="class_eigen_1_1_block.html">Block</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, Dim, HDim ><br class="typebreak"/>
>::type </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ae7d9f424ba9b30a5a44ddbaa79c8917e">AffinePart</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of read/write reference to the affine part of the transformation <a href="#ae7d9f424ba9b30a5a44ddbaa79c8917e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="struct_eigen_1_1internal_1_1conditional.html">internal::conditional</a><br class="typebreak"/>
< int(Mode)==int(AffineCompact), <br class="typebreak"/>
const <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> &, const <br class="typebreak"/>
<a class="el" href="class_eigen_1_1_block.html">Block</a>< const <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, Dim, <br class="typebreak"/>
HDim > >::type </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ac909bfb8aa6ad7651acfd7e3b3333999">ConstAffinePart</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of read reference to the affine part of the transformation <a href="#ac909bfb8aa6ad7651acfd7e3b3333999"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a5e247ecac67af07898d17c205907f090">VectorType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of a vector <a href="#a5e247ecac67af07898d17c205907f090"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_block.html">Block</a>< <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a3a5b48aa88f510b8e07e387f2230b11e">TranslationPart</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of a read/write reference to the translation part of the rotation <a href="#a3a5b48aa88f510b8e07e387f2230b11e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef const <a class="el" href="class_eigen_1_1_block.html">Block</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html#a1b30c4289c4f13b5dbc7ffdf99412fc7">ConstMatrixType</a>, Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a2f0d91624d4acd3f7d5044b956839dc0">ConstTranslationPart</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">type of a read reference to the translation part of the rotation <a href="#a2f0d91624d4acd3f7d5044b956839dc0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_translation.html">Translation</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a9cfef2ae86496b3d5b8a96921587b6ad">TranslationType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">corresponding translation type <a href="#a9cfef2ae86496b3d5b8a96921587b6ad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, <br class="typebreak"/>
TransformTimeDiagonalMode > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a95931b09214436fbaa3630d5ef3b1bd0">TransformTimeDiagonalReturnType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The return type of the product between a diagonal matrix and a transform. <a href="#a95931b09214436fbaa3630d5ef3b1bd0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="struct_eigen_1_1internal_1_1transform__take__affine__part.html">internal::transform_take_affine_part</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aea6ffde28647e284d4a6fa6f96c14fc6">take_affine_part</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aceca07043689cbce474fd3e2fc0b1ec3">EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE</a> (_Scalar, _Dim==<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a>?Dynamic:(_Dim+1)*(_Dim+1)) enum</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a4b132c61de1f20731374ad8d31d7e33d">Transform</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor without initialization of the meaningful coefficients. <a href="#a4b132c61de1f20731374ad8d31d7e33d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#acc5dba27b4e63dc2c8599c0fbe5d76b5">Transform</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> &other)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a0abc14298d555d4bfa9599db96230fce">Transform</a> (const <a class="el" href="class_eigen_1_1_transform.html#a9cfef2ae86496b3d5b8a96921587b6ad">TranslationType</a> &t)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a6c9f2e5c8f6776473ed01ad709737b75">Transform</a> (const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> > &s)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#acd64f50fa0249b2afaaa8321393f9d18">Transform</a> (const <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a>< Derived, Dim > &r)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a21df09ce916699c8974721a7954935ee">operator=</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> &other)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a214ee6fbd1da90bae79464e0c9e11985">Transform</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. <a href="#a214ee6fbd1da90bae79464e0c9e11985"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ac3e4a4f1f6032a121003e8fcb36ef875">operator=</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set <code>*this</code> from a Dim^2 or (Dim+1)^2 matrix. <a href="#ac3e4a4f1f6032a121003e8fcb36ef875"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<int OtherOptions> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a4ee81de1b8a2990f6700a7af25c7a47d">Transform</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, Mode, OtherOptions > &other)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<int OtherMode, int OtherOptions> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a5099d084834fa4940d6d84c62f4fc1e3">Transform</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, OtherMode, OtherOptions > &other)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a6ca623ea3427a6a533ba9dfbb71e67e6">Transform</a> (const <a class="el" href="class_eigen_1_1_return_by_value.html">ReturnByValue</a>< OtherDerived > &other)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#acc4c4b792e437ff5a5ad8f1e50d896cc">operator=</a> (const <a class="el" href="class_eigen_1_1_return_by_value.html">ReturnByValue</a>< OtherDerived > &other)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a5b5d8152e8cc9be81c3e73429469bfe8">operator()</a> (<a class="el" href="class_eigen_1_1_transform.html#a599a7fb463eb925605239620342e9bec">Index</a> row, <a class="el" href="class_eigen_1_1_transform.html#a599a7fb463eb925605239620342e9bec">Index</a> col) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">shortcut for m_matrix(row,col); <a href="#a5b5d8152e8cc9be81c3e73429469bfe8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ad353e235b541b32c24b0431951afe238">operator()</a> (<a class="el" href="class_eigen_1_1_transform.html#a599a7fb463eb925605239620342e9bec">Index</a> row, <a class="el" href="class_eigen_1_1_transform.html#a599a7fb463eb925605239620342e9bec">Index</a> col)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">shortcut for m_matrix(row,col); <a href="#ad353e235b541b32c24b0431951afe238"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aaba7327385adf28f7573cf6d919093cc">matrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ad46a7d18e8e6f067b6ab304ca34edc46">matrix</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#a070e373efc576d256e45468b0b99ff16">ConstLinearPart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ac1c1d351c47a2ff068d496a682ae592d">linear</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#ab55edb96d7c1465f41597c003619d5f6">LinearPart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#abc49b560206a6cbf31b1068241ab4aae">linear</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#ac909bfb8aa6ad7651acfd7e3b3333999">ConstAffinePart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#af4f3af08238aecb802a5ab41faa3f4c4">affine</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#ae7d9f424ba9b30a5a44ddbaa79c8917e">AffinePart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ac80f7f750018b419ebaa0af8c2be949e">affine</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#a2f0d91624d4acd3f7d5044b956839dc0">ConstTranslationPart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a83acd7306c375efa1cbe5e1103c5bd14">translation</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#a3a5b48aa88f510b8e07e387f2230b11e">TranslationPart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aedaf8cc508362e49c384e08c7e4a8c90">translation</a> ()</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">EIGEN_STRONG_INLINE const <br class="typebreak"/>
internal::transform_right_product_impl<br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html">Transform</a>, OtherDerived ><br class="typebreak"/>
::ResultType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a59ebf162c6f90b4352d41da4ce026978">operator*</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &other) const </td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename DiagonalDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const <br class="typebreak"/>
<a class="el" href="class_eigen_1_1_transform.html#a95931b09214436fbaa3630d5ef3b1bd0">TransformTimeDiagonalReturnType</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a5a3def71d0ae692d55a1b04530bfe3a4">operator*</a> (const DiagonalBase< DiagonalDerived > &b) const </td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#afc54e3ddaf2bfb2a83c0541ced09b202">operator*=</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &other)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a76a1ee80c69517e9fef31cc7a4b13cd9">operator*</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Concatenates two transformations. <a href="#a76a1ee80c69517e9fef31cc7a4b13cd9"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<int OtherMode, int OtherOptions> </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const <br class="typebreak"/>
internal::transform_transform_product_impl<br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html">Transform</a>, <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, <br class="typebreak"/>
Dim, OtherMode, OtherOptions ><br class="typebreak"/>
>::ResultType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ab5cc943a40e047daf9c3f65d01f68143">operator*</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, OtherMode, OtherOptions > &other) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Concatenates two different transformations. <a href="#ab5cc943a40e047daf9c3f65d01f68143"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a8ca8c5a7ae358f9ec545e8c5419fe8d1">setIdentity</a> ()</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a0f9b272377fbf2c4e3c0c1e188105230">scale</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< OtherDerived > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the right the non uniform scale transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#a0f9b272377fbf2c4e3c0c1e188105230"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#afdfa488fe1f4c4f2a3d706dc3939379b">prescale</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< OtherDerived > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the left the non uniform scale transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#afdfa488fe1f4c4f2a3d706dc3939379b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a71db7586ed75eb3b24e2d15bffd26066">scale</a> (<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the right a uniform scale of a factor <em>c</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#a71db7586ed75eb3b24e2d15bffd26066"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a75da5ec7366b0ec3638fda83e7a64771">prescale</a> (<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the left a uniform scale of a factor <em>c</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#a75da5ec7366b0ec3638fda83e7a64771"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a377c3c0f060c38c050a3eca070f594d1">translate</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< OtherDerived > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the right the translation matrix represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#a377c3c0f060c38c050a3eca070f594d1"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aebea5e45a792a6e60d442d9c0f498c1c">pretranslate</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< OtherDerived > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the left the translation matrix represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#aebea5e45a792a6e60d442d9c0f498c1c"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename RotationType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aa3765532a5942c333218ab4184b04f02">rotate</a> (const RotationType &rotation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the right the rotation represented by the rotation <em>rotation</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#aa3765532a5942c333218ab4184b04f02"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename RotationType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aeec3119ffa7dbfbcdc41d7b03cba80ab">prerotate</a> (const RotationType &rotation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the left the rotation represented by the rotation <em>rotation</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#aeec3119ffa7dbfbcdc41d7b03cba80ab"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a1bbb49ee140258b675cb714a9470e5a3">shear</a> (<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> sx, <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> sy)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the right the shear transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#a1bbb49ee140258b675cb714a9470e5a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aac480741781d077b26df5ac71670f387">preshear</a> (<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> sx, <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> sy)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applies on the left the shear transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. <a href="#aac480741781d077b26df5ac71670f387"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a1e5f4d7bf574f0a41bb67d3783070804">operator=</a> (const <a class="el" href="class_eigen_1_1_transform.html#a9cfef2ae86496b3d5b8a96921587b6ad">TranslationType</a> &t)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#abae101cef2629728082065756bda6c21">operator*=</a> (const <a class="el" href="class_eigen_1_1_transform.html#a9cfef2ae86496b3d5b8a96921587b6ad">TranslationType</a> &t)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aedf7f8cc79c51801c601dcb288709e8e">operator*</a> (const <a class="el" href="class_eigen_1_1_transform.html#a9cfef2ae86496b3d5b8a96921587b6ad">TranslationType</a> &t) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a9b1f2625ed4a883f05c6267e8431688f">operator=</a> (const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> > &t)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a6165b6e1fb8e1eae4147c335376be5d4">operator*=</a> (const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> > &s)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a9f8dd117cf556ad57d8e842205a4a82d">operator*</a> (const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> > &s) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aa02d7981c95c3cc2b60b2ce8d9559626">operator*=</a> (const <a class="el" href="class_eigen_1_1_diagonal_matrix.html">DiagonalMatrix</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim > &s)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a0c424e0f6040566269da36fcb6437f2d">operator=</a> (const <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a>< Derived, Dim > &r)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a91d4c7bf10394e833ef4c9acddde8cd0">operator*=</a> (const <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a>< Derived, Dim > &r)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename Derived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ae17884e5470b7bf228a1be3c4c5b1784">operator*</a> (const <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a>< Derived, Dim > &r) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_transform.html#a607434a96cb732a951af896fa5c27634">LinearMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a951806108b62c7cbb464d063ca801039">rotation</a> () const </td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename RotationMatrixType , typename ScalingMatrixType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a3f431971c57cbb827c733c38daee7030">computeRotationScaling</a> (RotationMatrixType *rotation, ScalingMatrixType *scaling) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive. <a href="#a3f431971c57cbb827c733c38daee7030"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename ScalingMatrixType , typename RotationMatrixType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a729c50d5d0f372973dd9d776ffb536dd">computeScalingRotation</a> (ScalingMatrixType *scaling, RotationMatrixType *rotation) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive. <a href="#a729c50d5d0f372973dd9d776ffb536dd"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename PositionDerived , typename OrientationType , typename ScaleDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a383d718c2c68bc262334536334540bda">fromPositionOrientationScale</a> (const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< PositionDerived > &position, const OrientationType &orientation, const <a class="el" href="class_eigen_1_1_matrix_base.html">MatrixBase</a>< ScaleDerived > &scale)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convenient method to set <code>*this</code> from a position, orientation and scale of a 3D object. <a href="#a383d718c2c68bc262334536334540bda"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ae27ae15aafaf3353c01bd5d389112da7">inverse</a> (<a class="el" href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">TransformTraits</a> traits=(<a class="el" href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">TransformTraits</a>) Mode) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#acce681d7a652b08433065738706f38f1">data</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a7fbbbfd8dfb81c0a67db28420c580670">data</a> ()</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename NewScalarType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="struct_eigen_1_1internal_1_1cast__return__type.html">internal::cast_return_type</a><br class="typebreak"/>
< <a class="el" href="class_eigen_1_1_transform.html">Transform</a>, <a class="el" href="class_eigen_1_1_transform.html">Transform</a><br class="typebreak"/>
< NewScalarType, Dim, Mode, <br class="typebreak"/>
Options > >::type </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aba8ecf594a879a8db211a1360ef41887">cast</a> () const </td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherScalarType > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#aa74e87bc651994cea513267c296f5b4c">Transform</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< OtherScalarType, Dim, Mode, Options > &other)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy constructor with scalar type conversion. <a href="#aa74e87bc651994cea513267c296f5b4c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a7375d66650f27d7622e2b627e52c8c40">isApprox</a> (const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> &other, typename <a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> >::Real prec=<a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> >::dummy_precision()) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ac009d90f26671b182b35588a46937447">makeAffine</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the last row to [0 ... <a href="#ac009d90f26671b182b35588a46937447"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_block.html">Block</a>< <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, int(Mode)==int(Projective)?HDim:Dim, <br class="typebreak"/>
Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ad5eaeb15d66f94a5f63b6c90f46baa45">linearExt</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_block.html">Block</a>< <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, int(Mode)==int(Projective)?HDim:Dim, <br class="typebreak"/>
Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a5e70966d8345f81a7cf1fe7d981e25b0">linearExt</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_block.html">Block</a>< <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, int(Mode)==int(Projective)?HDim:Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ac9376d400df6dfef152d935d5f305837">translationExt</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_eigen_1_1_block.html">Block</a>< <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>, int(Mode)==int(Projective)?HDim:Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a91fd0f827ddb802a32e7176d6f1fc56a">translationExt</a> () const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#ae751c6a2def326c4b775495cdd0c1fca">Identity</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an identity transformation. <a href="#ae751c6a2def326c4b775495cdd0c1fca"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a4e51484aff443fb2f0cc514323d6266e">m_matrix</a></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">const <br class="typebreak"/>
internal::transform_left_product_impl<br class="typebreak"/>
< OtherDerived, Mode, Options, <br class="typebreak"/>
_Dim, _Dim+1 >::ResultType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a213c219b6aa33d8348eaee56bc40bd7d">operator*</a> (const <a class="el" href="struct_eigen_1_1_eigen_base.html">EigenBase</a>< OtherDerived > &a, const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> &b)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename DiagonalDerived > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="class_eigen_1_1_transform.html#a95931b09214436fbaa3630d5ef3b1bd0">TransformTimeDiagonalReturnType</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="class_eigen_1_1_transform.html#a8941cc25b120ff7ee7b435150ba699b3">operator*</a> (const DiagonalBase< DiagonalDerived > &a, const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> &b)</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ae7d9f424ba9b30a5a44ddbaa79c8917e"></a><!-- doxytag: member="Eigen::Transform::AffinePart" ref="ae7d9f424ba9b30a5a44ddbaa79c8917e" args="" -->
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<td class="memname">typedef <a class="el" href="struct_eigen_1_1internal_1_1conditional.html">internal::conditional</a><int(Mode)==int(AffineCompact), <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>&, <a class="el" href="class_eigen_1_1_block.html">Block</a><<a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>,Dim,HDim> >::type <a class="el" href="class_eigen_1_1_transform.html#ae7d9f424ba9b30a5a44ddbaa79c8917e">Eigen::Transform::AffinePart</a></td>
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<p>type of read/write reference to the affine part of the transformation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00217">217</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ac909bfb8aa6ad7651acfd7e3b3333999"></a><!-- doxytag: member="Eigen::Transform::ConstAffinePart" ref="ac909bfb8aa6ad7651acfd7e3b3333999" args="" -->
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<td class="memname">typedef <a class="el" href="struct_eigen_1_1internal_1_1conditional.html">internal::conditional</a><int(Mode)==int(AffineCompact), const <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>&, const <a class="el" href="class_eigen_1_1_block.html">Block</a><const <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>,Dim,HDim> >::type <a class="el" href="class_eigen_1_1_transform.html#ac909bfb8aa6ad7651acfd7e3b3333999">Eigen::Transform::ConstAffinePart</a></td>
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<p>type of read reference to the affine part of the transformation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00221">221</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a070e373efc576d256e45468b0b99ff16"></a><!-- doxytag: member="Eigen::Transform::ConstLinearPart" ref="a070e373efc576d256e45468b0b99ff16" args="" -->
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<td class="memname">typedef const <a class="el" href="class_eigen_1_1_block.html">Block</a><<a class="el" href="class_eigen_1_1_transform.html#a1b30c4289c4f13b5dbc7ffdf99412fc7">ConstMatrixType</a>,Dim,Dim> <a class="el" href="class_eigen_1_1_transform.html#a070e373efc576d256e45468b0b99ff16">Eigen::Transform::ConstLinearPart</a></td>
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<p>type of read reference to the linear part of the transformation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00213">213</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a1b30c4289c4f13b5dbc7ffdf99412fc7"></a><!-- doxytag: member="Eigen::Transform::ConstMatrixType" ref="a1b30c4289c4f13b5dbc7ffdf99412fc7" args="" -->
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<td class="memname">typedef const <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> <a class="el" href="class_eigen_1_1_transform.html#a1b30c4289c4f13b5dbc7ffdf99412fc7">Eigen::Transform::ConstMatrixType</a></td>
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<p>constified MatrixType </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00207">207</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a2f0d91624d4acd3f7d5044b956839dc0"></a><!-- doxytag: member="Eigen::Transform::ConstTranslationPart" ref="a2f0d91624d4acd3f7d5044b956839dc0" args="" -->
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<td class="memname">typedef const <a class="el" href="class_eigen_1_1_block.html">Block</a><<a class="el" href="class_eigen_1_1_transform.html#a1b30c4289c4f13b5dbc7ffdf99412fc7">ConstMatrixType</a>,Dim,1> <a class="el" href="class_eigen_1_1_transform.html#a2f0d91624d4acd3f7d5044b956839dc0">Eigen::Transform::ConstTranslationPart</a></td>
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<p>type of a read reference to the translation part of the rotation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00227">227</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a599a7fb463eb925605239620342e9bec"></a><!-- doxytag: member="Eigen::Transform::Index" ref="a599a7fb463eb925605239620342e9bec" args="" -->
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<td class="memname">typedef <a class="el" href="namespace_eigen.html#aa06499c94936a19673e53deb516a1b76">DenseIndex</a> <a class="el" href="class_eigen_1_1_transform.html#a599a7fb463eb925605239620342e9bec">Eigen::Transform::Index</a></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00203">203</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a607434a96cb732a951af896fa5c27634"></a><!-- doxytag: member="Eigen::Transform::LinearMatrixType" ref="a607434a96cb732a951af896fa5c27634" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>,Dim,Dim,Options> <a class="el" href="class_eigen_1_1_transform.html#a607434a96cb732a951af896fa5c27634">Eigen::Transform::LinearMatrixType</a></td>
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<p>type of the matrix used to represent the linear part of the transformation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00209">209</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ab55edb96d7c1465f41597c003619d5f6"></a><!-- doxytag: member="Eigen::Transform::LinearPart" ref="ab55edb96d7c1465f41597c003619d5f6" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_block.html">Block</a><<a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>,Dim,Dim> <a class="el" href="class_eigen_1_1_transform.html#ab55edb96d7c1465f41597c003619d5f6">Eigen::Transform::LinearPart</a></td>
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<p>type of read/write reference to the linear part of the transformation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00211">211</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname">typedef <a class="el" href="class_eigen_1_1internal_1_1make__proper__matrix__type.html">internal::make_proper_matrix_type</a><<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>,Rows,HDim,Options>::type <a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">Eigen::Transform::MatrixType</a></td>
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<p>type of the matrix used to represent the transformation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00205">205</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>the scalar type of the coefficients </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00200">200</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aea6ffde28647e284d4a6fa6f96c14fc6"></a><!-- doxytag: member="Eigen::Transform::take_affine_part" ref="aea6ffde28647e284d4a6fa6f96c14fc6" args="" -->
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<td class="memname">typedef <a class="el" href="struct_eigen_1_1internal_1_1transform__take__affine__part.html">internal::transform_take_affine_part</a><<a class="el" href="class_eigen_1_1_transform.html">Transform</a>> <a class="el" href="class_eigen_1_1_transform.html#aea6ffde28647e284d4a6fa6f96c14fc6">Eigen::Transform::take_affine_part</a></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00277">277</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>The return type of the product between a diagonal matrix and a transform. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00234">234</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a3a5b48aa88f510b8e07e387f2230b11e"></a><!-- doxytag: member="Eigen::Transform::TranslationPart" ref="a3a5b48aa88f510b8e07e387f2230b11e" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_block.html">Block</a><<a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>,Dim,1> <a class="el" href="class_eigen_1_1_transform.html#a3a5b48aa88f510b8e07e387f2230b11e">Eigen::Transform::TranslationPart</a></td>
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<p>type of a read/write reference to the translation part of the rotation </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00225">225</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>corresponding translation type </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00229">229</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a5e247ecac67af07898d17c205907f090"></a><!-- doxytag: member="Eigen::Transform::VectorType" ref="a5e247ecac67af07898d17c205907f090" args="" -->
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<td class="memname">typedef <a class="el" href="class_eigen_1_1_matrix.html">Matrix</a><<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>,Dim,1> <a class="el" href="class_eigen_1_1_transform.html#a5e247ecac67af07898d17c205907f090">Eigen::Transform::VectorType</a></td>
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<p>type of a vector </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00223">223</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="acfe57647c31beca04e6b958be20e9da2"></a><!-- doxytag: member="Eigen::Transform::@360" ref="acfe57647c31beca04e6b958be20e9da2" args="" -->
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<td class="memname">anonymous enum</td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="acfe57647c31beca04e6b958be20e9da2a76ccb9a3f5a590529d08f6563f9f6d51"></a><!-- doxytag: member="TransformTimeDiagonalMode" ref="acfe57647c31beca04e6b958be20e9da2a76ccb9a3f5a590529d08f6563f9f6d51" args="" -->TransformTimeDiagonalMode</em> </td><td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00232">232</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
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<p>Default constructor without initialization of the meaningful coefficients. </p>
<p>If Mode==Affine, then the last row is set to [0 ... 0 1] </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00244">244</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00251">251</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a0abc14298d555d4bfa9599db96230fce"></a><!-- doxytag: member="Eigen::Transform::Transform" ref="a0abc14298d555d4bfa9599db96230fce" args="(const TranslationType &t)" -->
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<td class="paramname"><em>t</em></td><td>)</td>
<td><code> [inline, explicit]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00257">257</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="paramname"><em>s</em></td><td>)</td>
<td><code> [inline, explicit]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00262">262</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td><code> [inline, explicit]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00268">268</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00281">281</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00296">296</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00304">304</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00345">345</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Copy constructor with scalar type conversion. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00555">555</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af4f3af08238aecb802a5ab41faa3f4c4"></a><!-- doxytag: member="Eigen::Transform::affine" ref="af4f3af08238aecb802a5ab41faa3f4c4" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#ac909bfb8aa6ad7651acfd7e3b3333999">ConstAffinePart</a> Eigen::Transform::affine </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a read-only expression of the Dim x HDim affine part of the transformation </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00385">385</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#ae7d9f424ba9b30a5a44ddbaa79c8917e">AffinePart</a> Eigen::Transform::affine </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a writable expression of the Dim x HDim affine part of the transformation </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00387">387</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd><code>*this</code> with scalar type casted to <em>NewScalarType</em> </dd></dl>
<p>Note that if <em>NewScalarType</em> is equal to the current scalar type of <code>*this</code> then this function smartly returns a const reference to <code>*this</code>. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00550">550</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive. </p>
<p>If either pointer is zero, the corresponding computation is skipped.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a729c50d5d0f372973dd9d776ffb536dd" title="decomposes the linear part of the transformation as a product rotation x scaling, the scaling being n...">computeScalingRotation()</a>, <a class="el" href="class_eigen_1_1_transform.html#a951806108b62c7cbb464d063ca801039">rotation()</a>, class SVD </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l01005">1005</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>decomposes the linear part of the transformation as a product rotation x scaling, the scaling being not necessarily positive. </p>
<p>If either pointer is zero, the corresponding computation is skipped.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a3f431971c57cbb827c733c38daee7030" title="decomposes the linear part of the transformation as a product rotation x scaling, the scaling being n...">computeRotationScaling()</a>, <a class="el" href="class_eigen_1_1_transform.html#a951806108b62c7cbb464d063ca801039">rotation()</a>, class SVD </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l01034">1034</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a const pointer to the column major internal matrix </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00540">540</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>* Eigen::Transform::data </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a non-const pointer to the column major internal matrix </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00542">542</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="paramtype">_Dim </td>
<td class="paramname"> = <code>=<a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> ? <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> : (_Dim+1)*(_Dim+1)</code> </td>
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<p>< space dimension in which the transformation holds</p>
<p>< size of a respective homogeneous vector </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00193">193</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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template<typename PositionDerived , typename OrientationType , typename ScaleDerived > </div>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, Mode, Options > & Eigen::Transform::fromPositionOrientationScale </td>
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<p>Convenient method to set <code>*this</code> from a position, orientation and scale of a 3D object. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l01056">1056</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname">static const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> Eigen::Transform::Identity </td>
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<p>Returns an identity transformation. </p>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000009">Todo:</a></b></dt><dd>In the future this function should be returning a <a class="el" href="class_eigen_1_1_transform.html">Transform</a> expression. </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00481">481</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, Mode, Options > Eigen::Transform::inverse </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the inverse transformation according to some given knowledge on <code>*this</code>.</dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
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<tr><td class="paramname">hint</td><td>allows to optimize the inversion process when the transformation is known to be not a general transformation (optional). The possible values are:<ul>
<li><a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183" title="Transformation is a general projective transformation stored as a (Dim+1)^2 matrix.">Projective</a> if the transformation is not necessarily affine, i.e., if the last row is not guaranteed to be [0 ... 0 1]</li>
<li><a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb" title="Transformation is an affine transformation stored as a (Dim+1)^2 matrix whose last row is assumed to ...">Affine</a> if the last row can be assumed to be [0 ... 0 1]</li>
<li><a class="el" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef" title="Transformation is an isometry.">Isometry</a> if the transformation is only a concatenations of translations and rotations. The default is the template class parameter <code>Mode</code>.</li>
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<dl class="warning"><dt><b>Warning:</b></dt><dd>unless <em>traits</em> is always set to NoShear or NoScaling, this function requires the generic inverse method of <a class="el" href="class_eigen_1_1_matrix_base.html" title="Base class for all dense matrices, vectors, and expressions.">MatrixBase</a> defined in the LU module. If you forget to include this module, then you will get hard to debug linking errors.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_matrix_base.html#a008dc30f0dfd362c4c8d27008eff6920">MatrixBase::inverse()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l01110">1110</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="paramtype">typename <a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> >::Real </td>
<td class="paramname"><em>prec</em> = <code><a class="el" href="struct_eigen_1_1_num_traits.html">NumTraits</a><<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>>::dummy_precision()</code> </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd><code>true</code> if <code>*this</code> is approximately equal to <em>other</em>, within the precision determined by <em>prec</em>.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_dense_base.html#ad054d515cf1c46a71e621dea16af2dda">MatrixBase::isApprox()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00565">565</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ac1c1d351c47a2ff068d496a682ae592d"></a><!-- doxytag: member="Eigen::Transform::linear" ref="ac1c1d351c47a2ff068d496a682ae592d" args="() const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#a070e373efc576d256e45468b0b99ff16">ConstLinearPart</a> Eigen::Transform::linear </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a read-only expression of the linear part of the transformation </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00380">380</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#ab55edb96d7c1465f41597c003619d5f6">LinearPart</a> Eigen::Transform::linear </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a writable expression of the linear part of the transformation </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00382">382</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_block.html">Block</a><<a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>,int(Mode)==int(Projective)?HDim:Dim,Dim> Eigen::Transform::linearExt </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00583">583</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00589">589</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Sets the last row to [0 ... </p>
<p>0 1] </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00570">570</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a read-only expression of the transformation matrix </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00375">375</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>& Eigen::Transform::matrix </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a writable expression of the transformation matrix </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00377">377</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> Eigen::Transform::operator() </td>
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<p>shortcut for m_matrix(row,col); </p>
<dl class="see"><dt><b>See also:</b></dt><dd>MatrixBase::operator(Index,Index) const </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00369">369</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>& Eigen::Transform::operator() </td>
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<p>shortcut for m_matrix(row,col); </p>
<dl class="see"><dt><b>See also:</b></dt><dd>MatrixBase::operator(Index,Index) </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00372">372</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>an expression of the product between the transform <code>*this</code> and a matrix expression <em>other</em> </dd></dl>
<p>The right hand side <em>other</em> might be either: </p>
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<li>a vector of size Dim, </li>
<li>an homogeneous vector of size Dim+1, </li>
<li>a set of vectors of size Dim x Dynamic, </li>
<li>a set of homogeneous vectors of size Dim+1 x Dynamic, </li>
<li>a linear transformation matrix of size Dim x Dim, </li>
<li>an affine transformation matrix of size Dim x Dim+1, </li>
<li>a transformation matrix of size Dim+1 x Dim+1. </li>
</ul>
<p>Definition at line <a class="el" href="_geometry_source.html#l00408">408</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a5a3def71d0ae692d55a1b04530bfe3a4"></a><!-- doxytag: member="Eigen::Transform::operator*" ref="a5a3def71d0ae692d55a1b04530bfe3a4" args="(const DiagonalBase< DiagonalDerived > &b) const " -->
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<td class="memname">const <a class="el" href="class_eigen_1_1_transform.html#a95931b09214436fbaa3630d5ef3b1bd0">TransformTimeDiagonalReturnType</a> Eigen::Transform::operator* </td>
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<td class="paramtype">const DiagonalBase< DiagonalDerived > & </td>
<td class="paramname"><em>b</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The product expression of a transform <em>a</em> times a diagonal matrix <em>b</em> </dd></dl>
<p>The rhs diagonal matrix is interpreted as an affine scaling transformation. The product results in a <a class="el" href="class_eigen_1_1_transform.html">Transform</a> of the same type (mode) as the lhs only if the lhs mode is no isometry. In that case, the returned transform is an affinity. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00431">431</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a76a1ee80c69517e9fef31cc7a4b13cd9"></a><!-- doxytag: member="Eigen::Transform::operator*" ref="a76a1ee80c69517e9fef31cc7a4b13cd9" args="(const Transform &other) const " -->
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<td class="memname">const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> Eigen::Transform::operator* </td>
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td>
<td class="paramname"><em>other</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Concatenates two transformations. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00460">460</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ab5cc943a40e047daf9c3f65d01f68143"></a><!-- doxytag: member="Eigen::Transform::operator*" ref="ab5cc943a40e047daf9c3f65d01f68143" args="(const Transform< Scalar, Dim, OtherMode, OtherOptions > &other) const " -->
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<td class="memname">const internal::transform_transform_product_impl< <a class="el" href="class_eigen_1_1_transform.html">Transform</a>,<a class="el" href="class_eigen_1_1_transform.html">Transform</a><<a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>,Dim,OtherMode,OtherOptions> >::ResultType Eigen::Transform::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, OtherMode, OtherOptions > & </td>
<td class="paramname"><em>other</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Concatenates two different transformations. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00469">469</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aedf7f8cc79c51801c601dcb288709e8e"></a><!-- doxytag: member="Eigen::Transform::operator*" ref="aedf7f8cc79c51801c601dcb288709e8e" args="(const TranslationType &t) const " -->
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_transform.html#a9cfef2ae86496b3d5b8a96921587b6ad">TranslationType</a> & </td>
<td class="paramname"><em>t</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00928">928</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a9f8dd117cf556ad57d8e842205a4a82d"></a><!-- doxytag: member="Eigen::Transform::operator*" ref="a9f8dd117cf556ad57d8e842205a4a82d" args="(const UniformScaling< Scalar > &s) const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, Mode, Options > Eigen::Transform::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> > & </td>
<td class="paramname"><em>s</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00945">945</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ae17884e5470b7bf228a1be3c4c5b1784"></a><!-- doxytag: member="Eigen::Transform::operator*" ref="ae17884e5470b7bf228a1be3c4c5b1784" args="(const RotationBase< Derived, Dim > &r) const " -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, Mode, Options > Eigen::Transform::operator* </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a>< Derived, Dim > & </td>
<td class="paramname"><em>r</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00964">964</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="afc54e3ddaf2bfb2a83c0541ced09b202"></a><!-- doxytag: member="Eigen::Transform::operator*=" ref="afc54e3ddaf2bfb2a83c0541ced09b202" args="(const EigenBase< OtherDerived > &other)" -->
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<p>Definition at line <a class="el" href="_geometry_source.html#l00457">457</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="abae101cef2629728082065756bda6c21"></a><!-- doxytag: member="Eigen::Transform::operator*=" ref="abae101cef2629728082065756bda6c21" args="(const TranslationType &t)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>& Eigen::Transform::operator*= </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00511">511</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a6165b6e1fb8e1eae4147c335376be5d4"></a><!-- doxytag: member="Eigen::Transform::operator*=" ref="a6165b6e1fb8e1eae4147c335376be5d4" args="(const UniformScaling< Scalar > &s)" -->
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<p>Definition at line <a class="el" href="_geometry_source.html#l00515">515</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aa02d7981c95c3cc2b60b2ce8d9559626"></a><!-- doxytag: member="Eigen::Transform::operator*=" ref="aa02d7981c95c3cc2b60b2ce8d9559626" args="(const DiagonalMatrix< Scalar, Dim > &s)" -->
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00518">518</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a91d4c7bf10394e833ef4c9acddde8cd0"></a><!-- doxytag: member="Eigen::Transform::operator*=" ref="a91d4c7bf10394e833ef4c9acddde8cd0" args="(const RotationBase< Derived, Dim > &r)" -->
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<p>Definition at line <a class="el" href="_geometry_source.html#l00523">523</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a21df09ce916699c8974721a7954935ee"></a><!-- doxytag: member="Eigen::Transform::operator=" ref="a21df09ce916699c8974721a7954935ee" args="(const Transform &other)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>& Eigen::Transform::operator= </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00274">274</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ac3e4a4f1f6032a121003e8fcb36ef875"></a><!-- doxytag: member="Eigen::Transform::operator=" ref="ac3e4a4f1f6032a121003e8fcb36ef875" args="(const EigenBase< OtherDerived > &other)" -->
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<p>Set <code>*this</code> from a Dim^2 or (Dim+1)^2 matrix. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00289">289</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="acc4c4b792e437ff5a5ad8f1e50d896cc"></a><!-- doxytag: member="Eigen::Transform::operator=" ref="acc4c4b792e437ff5a5ad8f1e50d896cc" args="(const ReturnByValue< OtherDerived > &other)" -->
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<p>Definition at line <a class="el" href="_geometry_source.html#l00352">352</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a1e5f4d7bf574f0a41bb67d3783070804"></a><!-- doxytag: member="Eigen::Transform::operator=" ref="a1e5f4d7bf574f0a41bb67d3783070804" args="(const TranslationType &t)" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html">Transform</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a>, Dim, Mode, Options > & Eigen::Transform::operator= </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_transform.html#a9cfef2ae86496b3d5b8a96921587b6ad">TranslationType</a> & </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00919">919</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a9b1f2625ed4a883f05c6267e8431688f"></a><!-- doxytag: member="Eigen::Transform::operator=" ref="a9b1f2625ed4a883f05c6267e8431688f" args="(const UniformScaling< Scalar > &t)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_uniform_scaling.html">UniformScaling</a>< <a class="el" href="class_eigen_1_1_transform.html#aa068ea7b07c68c8ae5efb540416ffbbd">Scalar</a> > & </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00936">936</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a0c424e0f6040566269da36fcb6437f2d"></a><!-- doxytag: member="Eigen::Transform::operator=" ref="a0c424e0f6040566269da36fcb6437f2d" args="(const RotationBase< Derived, Dim > &r)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_rotation_base.html">RotationBase</a>< Derived, Dim > & </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00954">954</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aeec3119ffa7dbfbcdc41d7b03cba80ab"></a><!-- doxytag: member="Eigen::Transform::prerotate" ref="aeec3119ffa7dbfbcdc41d7b03cba80ab" args="(const RotationType &rotation)" -->
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<p>Applies on the left the rotation represented by the rotation <em>rotation</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<p>See <a class="el" href="class_eigen_1_1_transform.html#aa3765532a5942c333218ab4184b04f02" title="Applies on the right the rotation represented by the rotation rotation to *this and returns a referen...">rotate()</a> for further details.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#aa3765532a5942c333218ab4184b04f02" title="Applies on the right the rotation represented by the rotation rotation to *this and returns a referen...">rotate()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00876">876</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="afdfa488fe1f4c4f2a3d706dc3939379b"></a><!-- doxytag: member="Eigen::Transform::prescale" ref="afdfa488fe1f4c4f2a3d706dc3939379b" args="(const MatrixBase< OtherDerived > &other)" -->
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<p>Applies on the left the non uniform scale transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a0f9b272377fbf2c4e3c0c1e188105230" title="Applies on the right the non uniform scale transformation represented by the vector other to *this an...">scale()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00789">789</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a75da5ec7366b0ec3638fda83e7a64771"></a><!-- doxytag: member="Eigen::Transform::prescale" ref="a75da5ec7366b0ec3638fda83e7a64771" args="(Scalar s)" -->
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<p>Applies on the left a uniform scale of a factor <em>c</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a71db7586ed75eb3b24e2d15bffd26066" title="Applies on the right a uniform scale of a factor c to *this and returns a reference to *this...">scale(Scalar)</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00802">802</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Applies on the left the shear transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="warning"><dt><b>Warning:</b></dt><dd>2D only. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a1bbb49ee140258b675cb714a9470e5a3" title="Applies on the right the shear transformation represented by the vector other to *this and returns a ...">shear()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00906">906</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="aebea5e45a792a6e60d442d9c0f498c1c"></a><!-- doxytag: member="Eigen::Transform::pretranslate" ref="aebea5e45a792a6e60d442d9c0f498c1c" args="(const MatrixBase< OtherDerived > &other)" -->
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<p>Applies on the left the translation matrix represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a377c3c0f060c38c050a3eca070f594d1" title="Applies on the right the translation matrix represented by the vector other to *this and returns a re...">translate()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00830">830</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Applies on the right the rotation represented by the rotation <em>rotation</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<p>The template parameter <em>RotationType</em> is the type of the rotation which must be known by <a class="el" href="namespace_eigen_1_1internal.html#aa6866836457492ae016f1a9238cb4125">internal::toRotationMatrix<></a>.</p>
<p>Natively supported types includes:</p>
<ul>
<li>any scalar (2D),</li>
<li>a Dim x Dim matrix expression,</li>
<li>a <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> (3D),</li>
<li>a <a class="el" href="class_eigen_1_1_angle_axis.html">AngleAxis</a> (3D)</li>
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<p>This mechanism is easily extendable to support user types such as Euler angles, or a pair of <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a> for 4D rotations.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>rotate(Scalar), class <a class="el" href="class_eigen_1_1_quaternion.html">Quaternion</a>, class <a class="el" href="class_eigen_1_1_angle_axis.html">AngleAxis</a>, prerotate(RotationType) </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00860">860</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<dl class="return"><dt><b>Returns:</b></dt><dd>the rotation part of the transformation</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a3f431971c57cbb827c733c38daee7030" title="decomposes the linear part of the transformation as a product rotation x scaling, the scaling being n...">computeRotationScaling()</a>, <a class="el" href="class_eigen_1_1_transform.html#a729c50d5d0f372973dd9d776ffb536dd" title="decomposes the linear part of the transformation as a product rotation x scaling, the scaling being n...">computeScalingRotation()</a>, class SVD </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00984">984</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a0f9b272377fbf2c4e3c0c1e188105230"></a><!-- doxytag: member="Eigen::Transform::scale" ref="a0f9b272377fbf2c4e3c0c1e188105230" args="(const MatrixBase< OtherDerived > &other)" -->
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<p>Applies on the right the non uniform scale transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#afdfa488fe1f4c4f2a3d706dc3939379b" title="Applies on the left the non uniform scale transformation represented by the vector other to *this and...">prescale()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00762">762</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Applies on the right a uniform scale of a factor <em>c</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#a75da5ec7366b0ec3638fda83e7a64771" title="Applies on the left a uniform scale of a factor c to *this and returns a reference to *this...">prescale(Scalar)</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00775">775</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a8ca8c5a7ae358f9ec545e8c5419fe8d1"></a><!-- doxytag: member="Eigen::Transform::setIdentity" ref="a8ca8c5a7ae358f9ec545e8c5419fe8d1" args="()" -->
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<td class="memname">void Eigen::Transform::setIdentity </td>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_matrix_base.html#ab7bcd84f6d4226f42813cd6c440d3ef1" title="Writes the identity expression (not necessarily square) into *this.">MatrixBase::setIdentity()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00475">475</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a1bbb49ee140258b675cb714a9470e5a3"></a><!-- doxytag: member="Eigen::Transform::shear" ref="a1bbb49ee140258b675cb714a9470e5a3" args="(Scalar sx, Scalar sy)" -->
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<p>Applies on the right the shear transformation represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="warning"><dt><b>Warning:</b></dt><dd>2D only. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#aac480741781d077b26df5ac71670f387" title="Applies on the left the shear transformation represented by the vector other to *this and returns a r...">preshear()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00890">890</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="a377c3c0f060c38c050a3eca070f594d1"></a><!-- doxytag: member="Eigen::Transform::translate" ref="a377c3c0f060c38c050a3eca070f594d1" args="(const MatrixBase< OtherDerived > &other)" -->
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<p>Applies on the right the translation matrix represented by the vector <em>other</em> to <code>*this</code> and returns a reference to <code>*this</code>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_eigen_1_1_transform.html#aebea5e45a792a6e60d442d9c0f498c1c" title="Applies on the left the translation matrix represented by the vector other to *this and returns a ref...">pretranslate()</a> </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00816">816</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#a2f0d91624d4acd3f7d5044b956839dc0">ConstTranslationPart</a> Eigen::Transform::translation </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a read-only expression of the translation vector of the transformation </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00390">390</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#a3a5b48aa88f510b8e07e387f2230b11e">TranslationPart</a> Eigen::Transform::translation </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>a writable expression of the translation vector of the transformation </dd></dl>
<p>Definition at line <a class="el" href="_geometry_source.html#l00392">392</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<a class="anchor" id="ac9376d400df6dfef152d935d5f305837"></a><!-- doxytag: member="Eigen::Transform::translationExt" ref="ac9376d400df6dfef152d935d5f305837" args="()" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_block.html">Block</a><<a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a>,int(Mode)==int(Projective)?HDim:Dim,1> Eigen::Transform::translationExt </td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00596">596</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00602">602</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a213c219b6aa33d8348eaee56bc40bd7d"></a><!-- doxytag: member="Eigen::Transform::operator*" ref="a213c219b6aa33d8348eaee56bc40bd7d" args="(const EigenBase< OtherDerived > &a, const Transform &b)" -->
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<dl class="return"><dt><b>Returns:</b></dt><dd>the product expression of a transformation matrix <em>a</em> times a transform <em>b</em> </dd></dl>
<p>The left hand side <em>other</em> might be either: </p>
<ul>
<li>a linear transformation matrix of size Dim x Dim, </li>
<li>an affine transformation matrix of size Dim x Dim+1, </li>
<li>a general transformation matrix of size Dim+1 x Dim+1. </li>
</ul>
<p>Definition at line <a class="el" href="_geometry_source.html#l00420">420</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<td class="paramtype">const <a class="el" href="class_eigen_1_1_transform.html">Transform</a> & </td>
<td class="paramname"><em>b</em> </td>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The product expression of a diagonal matrix <em>a</em> times a transform <em>b</em> </dd></dl>
<p>The lhs diagonal matrix is interpreted as an affine scaling transformation. The product results in a <a class="el" href="class_eigen_1_1_transform.html">Transform</a> of the same type (mode) as the lhs only if the lhs mode is no isometry. In that case, the returned transform is an affinity. </p>
<p>Definition at line <a class="el" href="_geometry_source.html#l00446">446</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a4e51484aff443fb2f0cc514323d6266e"></a><!-- doxytag: member="Eigen::Transform::m_matrix" ref="a4e51484aff443fb2f0cc514323d6266e" args="" -->
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<td class="memname"><a class="el" href="class_eigen_1_1_transform.html#ade0fbd1fcacd613083e63671bc7ea1fa">MatrixType</a> <a class="el" href="class_eigen_1_1_transform.html#a4e51484aff443fb2f0cc514323d6266e">Eigen::Transform::m_matrix</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_geometry_source.html#l00238">238</a> of file <a class="el" href="_geometry_source.html">Geometry</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
