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<div class="title">Transform< Scalar, Dim, Mode, _Options > Class Template Reference<div class="ingroups"><a class="el" href="group__Geometry__Module.html">Geometry module</a></div></div> </div>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template<typename Scalar, int Dim, int Mode, int _Options = AutoAlign><br/>
class Eigen::Transform< Scalar, Dim, Mode, _Options ></h3>
<p>Represents an homogeneous transformation in a N dimensional space. </p>
<p>This is defined in the Geometry module.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include <Eigen/Geometry></span> </div>
</div><!-- fragment --><dl class="tparams"><dt>Template Parameters</dt><dd>
<table class="tparams">
<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#gga302a826315506a7217d4b477ea78425fac0984f0c0fc7cdcea1c0bde170f9c925">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#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>: the transformation is stored as a (Dim)x(Dim+1) matrix.</li>
<li><a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fa732168807730e0e931f3c5792b99b672">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="classEigen_1_1Matrix.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="classEigen_1_1Transform.html#ad7355bb89f8429007277363642c90bfd">matrix()</a> method. To understand the behavior of this class you have to think a <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">Transform</a> object as its internal matrix representation. The chosen convention is right multiply:</p>
<div class="fragment"><div class="line">v<span class="stringliteral">' = T * v </span></div>
</div><!-- fragment --><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) $" src="form_109.png"/></p>
<p>Note that for a projective transformation the last row can be anything, and then the interpretation of different parts might be sightly different.</p>
<p>However, unlike a plain matrix, the <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">Transform</a> class provides many features simplifying both its assembly and usage. In particular, it can be composed with any other transformations (<a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">Transform</a>,<a class="el" href="classEigen_1_1Translation.html" title="Represents a translation transformation. ">Translation</a>,<a class="el" href="classEigen_1_1RotationBase.html" title="Common base class for compact rotation representations. ">RotationBase</a>,<a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>) and can be directly used to transform implicit homogeneous vectors. All these operations are handled via the operator*. For the composition of transformations, its principle consists to first convert the right/left hand sides of the product to a compatible (Dim+1)^2 matrix and then perform a pure matrix product. Of course, internally, operator* tries to perform the minimal number of operations according to the nature of each terms. Likewise, when applying the transform to non homogeneous vectors, the latters are automatically promoted to homogeneous one before doing the matrix product. The convertions to homogeneous representations are performed as follow:</p>
<p><b><a class="el" href="classEigen_1_1Translation.html" title="Represents a translation transformation. ">Translation</a></b> t (Dim)x(1): <img class="formulaInl" alt="$ \left( \begin{array}{cc} I & t \\ 0\,...\,0 & 1 \end{array} \right) $" src="form_110.png"/></p>
<p><b>Rotation</b> R (Dim)x(Dim): <img class="formulaInl" alt="$ \left( \begin{array}{cc} R & 0\\ 0\,...\,0 & 1 \end{array} \right) $" src="form_111.png"/></p>
<p><b>Linear</b> <b><a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a></b> L (Dim)x(Dim): <img class="formulaInl" alt="$ \left( \begin{array}{cc} L & 0\\ 0\,...\,0 & 1 \end{array} \right) $" src="form_112.png"/></p>
<p><b>Affine</b> <b><a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a></b> A (Dim)x(Dim+1): <img class="formulaInl" alt="$ \left( \begin{array}{c} A\\ 0\,...\,0\,1 \end{array} \right) $" src="form_113.png"/></p>
<p><b>Column</b> <b>vector</b> v (Dim)x(1): <img class="formulaInl" alt="$ \left( \begin{array}{c} v\\ 1 \end{array} \right) $" src="form_114.png"/></p>
<p><b>Set</b> <b>of</b> <b>column</b> <b>vectors</b> V1...Vn (Dim)x(n): <img class="formulaInl" alt="$ \left( \begin{array}{ccc} v_1 & ... & v_n\\ 1 & ... & 1 \end{array} \right) $" src="form_115.png"/></p>
<p>The concatenation of a <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">Transform</a> object with any kind of other transformation always returns a <a class="el" href="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">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"><div class="line">* m<span class="stringliteral">' = T * m.colwise().homogeneous();</span></div>
<div class="line"><span class="stringliteral">* </span></div>
</div><!-- fragment --><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 <a class="el" href="TopicCustomizingEigen.html">Customizing/Extending Eigen</a> by defining the preprocessor symbol <code>EIGEN_TRANSFORM_PLUGIN</code>.</p>
<dl class="section see"><dt>See Also</dt><dd>class <a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>, class <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a> </dd></dl>
</div><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:aa15d55b76aa1df369db63ff8c000d71a"><td class="memItemLeft" align="right" valign="top">typedef internal::conditional<br class="typebreak"/>
< int(Mode)==int(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>), <br class="typebreak"/>
<a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a> &, <a class="el" href="classEigen_1_1Block.html">Block</a><br class="typebreak"/>
< <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>, Dim, HDim ><br class="typebreak"/>
>::type </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#aa15d55b76aa1df369db63ff8c000d71a">AffinePart</a></td></tr>
<tr class="separator:aa15d55b76aa1df369db63ff8c000d71a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a76d43dc15b6966af98842e5219152cf2"><td class="memItemLeft" align="right" valign="top">typedef internal::conditional<br class="typebreak"/>
< int(Mode)==int(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>), <br class="typebreak"/>
const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a> &, const <br class="typebreak"/>
<a class="el" href="classEigen_1_1Block.html">Block</a>< const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>, Dim, <br class="typebreak"/>
HDim > >::type </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a76d43dc15b6966af98842e5219152cf2">ConstAffinePart</a></td></tr>
<tr class="separator:a76d43dc15b6966af98842e5219152cf2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8dcfbc5a318cc1f7d10073ffa959051c"><td class="memItemLeft" align="right" valign="top">typedef const <a class="el" href="classEigen_1_1Block.html">Block</a><br class="typebreak"/>
< <a class="el" href="classEigen_1_1Transform.html#ac02f5facfe284620ba0141a95ec9a8fa">ConstMatrixType</a>, Dim, Dim, <br class="typebreak"/>
int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a8dcfbc5a318cc1f7d10073ffa959051c">ConstLinearPart</a></td></tr>
<tr class="separator:a8dcfbc5a318cc1f7d10073ffa959051c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac02f5facfe284620ba0141a95ec9a8fa"><td class="memItemLeft" align="right" valign="top">typedef const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ac02f5facfe284620ba0141a95ec9a8fa">ConstMatrixType</a></td></tr>
<tr class="separator:ac02f5facfe284620ba0141a95ec9a8fa"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4b5352e0747f0354c659edf2eff9f35b"><td class="memItemLeft" align="right" valign="top">typedef const <a class="el" href="classEigen_1_1Block.html">Block</a><br class="typebreak"/>
< <a class="el" href="classEigen_1_1Transform.html#ac02f5facfe284620ba0141a95ec9a8fa">ConstMatrixType</a>, Dim, 1, int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a4b5352e0747f0354c659edf2eff9f35b">ConstTranslationPart</a></td></tr>
<tr class="separator:a4b5352e0747f0354c659edf2eff9f35b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ade2ee06371d257b0eff58531d95a6474"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, <br class="typebreak"/>
Dim, Options > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ade2ee06371d257b0eff58531d95a6474">LinearMatrixType</a></td></tr>
<tr class="separator:ade2ee06371d257b0eff58531d95a6474"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ace20e267fb08cb804ed64fd1dad1d17c"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Block.html">Block</a>< <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>, Dim, <br class="typebreak"/>
Dim, int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ace20e267fb08cb804ed64fd1dad1d17c">LinearPart</a></td></tr>
<tr class="separator:ace20e267fb08cb804ed64fd1dad1d17c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a5a1112983fef15f856661bc7a70821c2"><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
internal::make_proper_matrix_type<br class="typebreak"/>
< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Rows, HDim, Options ><br class="typebreak"/>
::type </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a></td></tr>
<tr class="separator:a5a1112983fef15f856661bc7a70821c2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aea29b63b6c32046ae9a471d82c5cf869"><td class="memItemLeft" align="right" valign="top">typedef _Scalar </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a></td></tr>
<tr class="separator:aea29b63b6c32046ae9a471d82c5cf869"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:adb187d1758687a8de4dd9ea275f2a0a7"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, <br class="typebreak"/>
TransformTimeDiagonalMode > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#adb187d1758687a8de4dd9ea275f2a0a7">TransformTimeDiagonalReturnType</a></td></tr>
<tr class="separator:adb187d1758687a8de4dd9ea275f2a0a7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa94dac47195ab409fd1535c152405505"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Block.html">Block</a>< <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>, Dim, <br class="typebreak"/>
1, int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#aa94dac47195ab409fd1535c152405505">TranslationPart</a></td></tr>
<tr class="separator:aa94dac47195ab409fd1535c152405505"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac54aa49e111f1afc14c11a3a671993ca"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Translation.html">Translation</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ac54aa49e111f1afc14c11a3a671993ca">TranslationType</a></td></tr>
<tr class="separator:ac54aa49e111f1afc14c11a3a671993ca"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0c16671587fa0dc76fafeb486d6461c3"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, 1 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a0c16671587fa0dc76fafeb486d6461c3">VectorType</a></td></tr>
<tr class="separator:a0c16671587fa0dc76fafeb486d6461c3"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a4edf00461b9e1ce0abb791cee8a12ca5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#a76d43dc15b6966af98842e5219152cf2">ConstAffinePart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a4edf00461b9e1ce0abb791cee8a12ca5">affine</a> () const </td></tr>
<tr class="separator:a4edf00461b9e1ce0abb791cee8a12ca5"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa8e36298662286f4619b2cedf09e31e7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#aa15d55b76aa1df369db63ff8c000d71a">AffinePart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#aa8e36298662286f4619b2cedf09e31e7">affine</a> ()</td></tr>
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<tr class="memitem:a5d8d5b5101ca4b34cb88fd4f71cec08e"><td class="memTemplParams" colspan="2">template<typename NewScalarType > </td></tr>
<tr class="memitem:a5d8d5b5101ca4b34cb88fd4f71cec08e"><td class="memTemplItemLeft" align="right" valign="top">internal::cast_return_type<br class="typebreak"/>
< <a class="el" href="classEigen_1_1Transform.html">Transform</a>, <a class="el" href="classEigen_1_1Transform.html">Transform</a><br class="typebreak"/>
< NewScalarType, Dim, Mode, <br class="typebreak"/>
Options > >::type </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a5d8d5b5101ca4b34cb88fd4f71cec08e">cast</a> () const </td></tr>
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<tr class="memitem:ad84ac89e9b8499975bad62a9db9f8b4c"><td class="memTemplParams" colspan="2">template<typename RotationMatrixType , typename ScalingMatrixType > </td></tr>
<tr class="memitem:ad84ac89e9b8499975bad62a9db9f8b4c"><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ad84ac89e9b8499975bad62a9db9f8b4c">computeRotationScaling</a> (RotationMatrixType *<a class="el" href="classEigen_1_1Transform.html#a0c792f75e5e52207a6c011d8104367ac">rotation</a>, ScalingMatrixType *scaling) const </td></tr>
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<tr class="memitem:ac85861889115ef75aaecec5eb7582f12"><td class="memTemplParams" colspan="2">template<typename ScalingMatrixType , typename RotationMatrixType > </td></tr>
<tr class="memitem:ac85861889115ef75aaecec5eb7582f12"><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ac85861889115ef75aaecec5eb7582f12">computeScalingRotation</a> (ScalingMatrixType *scaling, RotationMatrixType *<a class="el" href="classEigen_1_1Transform.html#a0c792f75e5e52207a6c011d8104367ac">rotation</a>) const </td></tr>
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<tr class="memitem:a40dcc334db75411e168691d9bce08c3a"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a40dcc334db75411e168691d9bce08c3a">data</a> () const </td></tr>
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<tr class="memitem:a4663159a1450fa89214b1ab71f7ef5bf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a4663159a1450fa89214b1ab71f7ef5bf">data</a> ()</td></tr>
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<tr class="memitem:a08fcfa17a274862a36b5908d2b261e0d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a08fcfa17a274862a36b5908d2b261e0d">EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE</a> (_Scalar, _Dim==<a class="el" href="namespaceEigen.html#adc9da5be31bdce40c25a92c27999c0e3">Dynamic</a>?Dynamic:(_Dim+1)*(_Dim+1)) enum</td></tr>
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<tr class="memitem:a54be6540d2888404226ab0a4505f7485"><td class="memTemplParams" colspan="2">template<typename PositionDerived , typename OrientationType , typename ScaleDerived > </td></tr>
<tr class="memitem:a54be6540d2888404226ab0a4505f7485"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, <br class="typebreak"/>
Options > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a54be6540d2888404226ab0a4505f7485">fromPositionOrientationScale</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< PositionDerived > &position, const OrientationType &orientation, const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< ScaleDerived > &scale)</td></tr>
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<tr class="memitem:a29b71eedfb78a436577878e2e5560946"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a29b71eedfb78a436577878e2e5560946">inverse</a> (<a class="el" href="group__enums.html#ga302a826315506a7217d4b477ea78425f">TransformTraits</a> traits=(<a class="el" href="group__enums.html#ga302a826315506a7217d4b477ea78425f">TransformTraits</a>) Mode) const </td></tr>
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<tr class="memitem:a970e36d17bd859badeacfbe73bc7364b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a970e36d17bd859badeacfbe73bc7364b">isApprox</a> (const <a class="el" href="classEigen_1_1Transform.html">Transform</a> &other, const typename <a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> >::Real &prec=<a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> >::dummy_precision()) const </td></tr>
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<tr class="memitem:abbee559820c5cdfe7653a646396b0a8f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#a8dcfbc5a318cc1f7d10073ffa959051c">ConstLinearPart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#abbee559820c5cdfe7653a646396b0a8f">linear</a> () const </td></tr>
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<tr class="memitem:a66704eaad42c9dd8f3723746e264fcb2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#ace20e267fb08cb804ed64fd1dad1d17c">LinearPart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a66704eaad42c9dd8f3723746e264fcb2">linear</a> ()</td></tr>
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<tr class="memitem:a3de2b78841914f0f4e2a523c88b8530e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a3de2b78841914f0f4e2a523c88b8530e">makeAffine</a> ()</td></tr>
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<tr class="memitem:abc21b93260324521746a4ca2efacba90"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#abc21b93260324521746a4ca2efacba90">matrix</a> () const </td></tr>
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<tr class="memitem:ad7355bb89f8429007277363642c90bfd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ad7355bb89f8429007277363642c90bfd">matrix</a> ()</td></tr>
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<tr class="memitem:a84a0005514199136b5d20d8e626d47ff"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a84a0005514199136b5d20d8e626d47ff">operator()</a> (Index row, Index col) const </td></tr>
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<tr class="memitem:ac40b13c3b1b753f4f6aa8c6885eec706"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#ac40b13c3b1b753f4f6aa8c6885eec706">operator()</a> (Index row, Index col)</td></tr>
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<tr class="memitem:a3846f7a4b892ed530881f52a5460ddf6"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr class="memitem:a3846f7a4b892ed530881f52a5460ddf6"><td class="memTemplItemLeft" align="right" valign="top">const <br class="typebreak"/>
internal::transform_right_product_impl<br class="typebreak"/>
< <a class="el" href="classEigen_1_1Transform.html">Transform</a>, OtherDerived ><br class="typebreak"/>
::ResultType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a3846f7a4b892ed530881f52a5460ddf6">operator*</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > &other) const </td></tr>
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<tr class="memitem:a4c475d88c97a844134130c603b4c6fe6"><td class="memTemplParams" colspan="2">template<typename DiagonalDerived > </td></tr>
<tr class="memitem:a4c475d88c97a844134130c603b4c6fe6"><td class="memTemplItemLeft" align="right" valign="top">const <br class="typebreak"/>
<a class="el" href="classEigen_1_1Transform.html#adb187d1758687a8de4dd9ea275f2a0a7">TransformTimeDiagonalReturnType</a> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a4c475d88c97a844134130c603b4c6fe6">operator*</a> (const DiagonalBase< DiagonalDerived > &b) const </td></tr>
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<tr class="memitem:a3001cf5afd95d96a4a229e0c5f817364"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classEigen_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a3001cf5afd95d96a4a229e0c5f817364">operator*</a> (const <a class="el" href="classEigen_1_1Transform.html">Transform</a> &other) const </td></tr>
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<tr class="memitem:a75c357d299b0aa35926bc4602e9ee11e"><td class="memTemplParams" colspan="2">template<int OtherMode, int OtherOptions> </td></tr>
<tr class="memitem:a75c357d299b0aa35926bc4602e9ee11e"><td class="memTemplItemLeft" align="right" valign="top">internal::transform_transform_product_impl<br class="typebreak"/>
< <a class="el" href="classEigen_1_1Transform.html">Transform</a>, <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, <br class="typebreak"/>
Dim, OtherMode, OtherOptions ><br class="typebreak"/>
>::ResultType </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a75c357d299b0aa35926bc4602e9ee11e">operator*</a> (const <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, OtherMode, OtherOptions > &other) const </td></tr>
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<tr class="memitem:a746fdf41f0377f203f231a1705cf6012"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr class="memitem:a746fdf41f0377f203f231a1705cf6012"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a746fdf41f0377f203f231a1705cf6012">operator=</a> (const <a class="el" href="structEigen_1_1EigenBase.html">EigenBase</a>< OtherDerived > &other)</td></tr>
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<tr class="memitem:aa9e304d555b96b73ac4e8ca5a7f90d65"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#aa9e304d555b96b73ac4e8ca5a7f90d65">operator=</a> (const QMatrix &other)</td></tr>
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<tr class="memitem:aa5c4642624c7a29a23032328556cf7e7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#aa5c4642624c7a29a23032328556cf7e7">operator=</a> (const QTransform &other)</td></tr>
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<tr class="memitem:a1366696061a2531e17153eff012ede5e"><td class="memTemplParams" colspan="2">template<typename RotationType > </td></tr>
<tr class="memitem:a1366696061a2531e17153eff012ede5e"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, <br class="typebreak"/>
Options > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a1366696061a2531e17153eff012ede5e">prerotate</a> (const RotationType &<a class="el" href="classEigen_1_1Transform.html#a0c792f75e5e52207a6c011d8104367ac">rotation</a>)</td></tr>
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<tr class="memitem:a9310182d5c7b018efc022fec6601100d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a9310182d5c7b018efc022fec6601100d">prescale</a> (const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> &s)</td></tr>
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<tr class="memitem:a5c73e5a2756162e5fd57d9ec1edb7ee2"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr class="memitem:a5c73e5a2756162e5fd57d9ec1edb7ee2"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, <br class="typebreak"/>
Options > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a5c73e5a2756162e5fd57d9ec1edb7ee2">prescale</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< OtherDerived > &other)</td></tr>
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<tr class="memitem:a5448d7cb18b99426d18dfc3a18c0f4a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a5448d7cb18b99426d18dfc3a18c0f4a7">preshear</a> (const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> &sx, const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> &sy)</td></tr>
<tr class="separator:a5448d7cb18b99426d18dfc3a18c0f4a7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a2f4920998698b8aadde6f71151ece99c"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
<tr class="memitem:a2f4920998698b8aadde6f71151ece99c"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, <br class="typebreak"/>
Options > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a2f4920998698b8aadde6f71151ece99c">pretranslate</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< OtherDerived > &other)</td></tr>
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<tr class="memitem:a2ed345ee2437ea5bfa0683bf2e82a3b0"><td class="memTemplParams" colspan="2">template<typename RotationType > </td></tr>
<tr class="memitem:a2ed345ee2437ea5bfa0683bf2e82a3b0"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, <br class="typebreak"/>
Options > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a2ed345ee2437ea5bfa0683bf2e82a3b0">rotate</a> (const RotationType &<a class="el" href="classEigen_1_1Transform.html#a0c792f75e5e52207a6c011d8104367ac">rotation</a>)</td></tr>
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<tr class="memitem:a0c792f75e5e52207a6c011d8104367ac"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classEigen_1_1Transform.html#ade2ee06371d257b0eff58531d95a6474">LinearMatrixType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a0c792f75e5e52207a6c011d8104367ac">rotation</a> () const </td></tr>
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<tr class="memitem:a8dfff7973fce3c259e1a2b128015abac"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a8dfff7973fce3c259e1a2b128015abac">scale</a> (const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> &s)</td></tr>
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<tr class="memitem:a5984c8ce095784e40ef2d526fa98656b"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
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Options > & </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a5984c8ce095784e40ef2d526fa98656b">scale</a> (const <a class="el" href="classEigen_1_1MatrixBase.html">MatrixBase</a>< OtherDerived > &other)</td></tr>
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<tr class="memitem:a382e6ad7e6721b121e510959e1011be3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a382e6ad7e6721b121e510959e1011be3">setIdentity</a> ()</td></tr>
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<tr class="memitem:a44ffe4dae84e42589daf1b9047320ce6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a44ffe4dae84e42589daf1b9047320ce6">shear</a> (const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> &sx, const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> &sy)</td></tr>
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<tr class="memitem:a4721b3c0d0dc5c79fcd5dac8a352bc5c"><td class="memItemLeft" align="right" valign="top">QMatrix </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a4721b3c0d0dc5c79fcd5dac8a352bc5c">toQMatrix</a> (void) const </td></tr>
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<tr class="memitem:a58efdb505853955c01927ab52d1ea88f"><td class="memItemLeft" align="right" valign="top">QTransform </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a58efdb505853955c01927ab52d1ea88f">toQTransform</a> (void) const </td></tr>
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<tr class="memitem:ae80ecf3abb4b22d409c5adbd19850aa8"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
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<tr class="memitem:a4a1ecdb7e8eb963f3e167fa99faa5e95"><td class="memTemplParams" colspan="2">template<typename OtherScalarType > </td></tr>
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<tr class="memitem:a8fee784230fc83408b39716dc3fa9ab3"><td class="memTemplParams" colspan="2">template<typename OtherDerived > </td></tr>
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<tr class="memitem:a4619e6e4e0659443ad2bdb24c80af281"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classEigen_1_1Transform.html#a4b5352e0747f0354c659edf2eff9f35b">ConstTranslationPart</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a4619e6e4e0659443ad2bdb24c80af281">translation</a> () const </td></tr>
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Static Public Member Functions</h2></td></tr>
<tr class="memitem:a70ece05618a24131d9bf29162a700c58"><td class="memItemLeft" align="right" valign="top">static const <a class="el" href="classEigen_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classEigen_1_1Transform.html#a70ece05618a24131d9bf29162a700c58">Identity</a> ()</td></tr>
<tr class="memdesc:a70ece05618a24131d9bf29162a700c58"><td class="mdescLeft"> </td><td class="mdescRight">Returns an identity transformation. <a href="#a70ece05618a24131d9bf29162a700c58">More...</a><br/></td></tr>
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<h2 class="groupheader">Member Typedef Documentation</h2>
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<td class="memname">typedef internal::conditional<int(Mode)==int(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>), <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>&, <a class="el" href="classEigen_1_1Block.html">Block</a><<a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>,Dim,HDim> >::type <a class="el" href="classEigen_1_1Transform.html#aa15d55b76aa1df369db63ff8c000d71a">AffinePart</a></td>
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<p>type of read/write reference to the affine part of the transformation </p>
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<td class="memname">typedef internal::conditional<int(Mode)==int(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>), const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>&, const <a class="el" href="classEigen_1_1Block.html">Block</a><const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>,Dim,HDim> >::type <a class="el" href="classEigen_1_1Transform.html#a76d43dc15b6966af98842e5219152cf2">ConstAffinePart</a></td>
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<p>type of read reference to the affine part of the transformation </p>
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<td class="memname">typedef const <a class="el" href="classEigen_1_1Block.html">Block</a><<a class="el" href="classEigen_1_1Transform.html#ac02f5facfe284620ba0141a95ec9a8fa">ConstMatrixType</a>,Dim,Dim,int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> <a class="el" href="classEigen_1_1Transform.html#a8dcfbc5a318cc1f7d10073ffa959051c">ConstLinearPart</a></td>
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<p>type of read reference to the linear part of the transformation </p>
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<td class="memname">typedef const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a> <a class="el" href="classEigen_1_1Transform.html#ac02f5facfe284620ba0141a95ec9a8fa">ConstMatrixType</a></td>
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<p>constified MatrixType </p>
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<td class="memname">typedef const <a class="el" href="classEigen_1_1Block.html">Block</a><<a class="el" href="classEigen_1_1Transform.html#ac02f5facfe284620ba0141a95ec9a8fa">ConstMatrixType</a>,Dim,1,int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> <a class="el" href="classEigen_1_1Transform.html#a4b5352e0747f0354c659edf2eff9f35b">ConstTranslationPart</a></td>
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<p>type of a read reference to the translation part of the rotation </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,Dim,Options> <a class="el" href="classEigen_1_1Transform.html#ade2ee06371d257b0eff58531d95a6474">LinearMatrixType</a></td>
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<p>type of the matrix used to represent the linear part of the transformation </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Block.html">Block</a><<a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>,Dim,Dim,int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> <a class="el" href="classEigen_1_1Transform.html#ace20e267fb08cb804ed64fd1dad1d17c">LinearPart</a></td>
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<p>type of read/write reference to the linear part of the transformation </p>
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<td class="memname">typedef internal::make_proper_matrix_type<<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Rows,HDim,Options>::type <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a></td>
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<p>type of the matrix used to represent the transformation </p>
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<td class="memname">typedef _Scalar <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a></td>
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<p>the scalar type of the coefficients </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,TransformTimeDiagonalMode> <a class="el" href="classEigen_1_1Transform.html#adb187d1758687a8de4dd9ea275f2a0a7">TransformTimeDiagonalReturnType</a></td>
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<p>The return type of the product between a diagonal matrix and a transform </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Block.html">Block</a><<a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>,Dim,1,int(Mode)==(<a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">AffineCompact</a>)> <a class="el" href="classEigen_1_1Transform.html#aa94dac47195ab409fd1535c152405505">TranslationPart</a></td>
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<p>type of a read/write reference to the translation part of the rotation </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Translation.html">Translation</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim> <a class="el" href="classEigen_1_1Transform.html#ac54aa49e111f1afc14c11a3a671993ca">TranslationType</a></td>
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<p>corresponding translation type </p>
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<td class="memname">typedef <a class="el" href="classEigen_1_1Matrix.html">Matrix</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,1> <a class="el" href="classEigen_1_1Transform.html#a0c16671587fa0dc76fafeb486d6461c3">VectorType</a></td>
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<p>type of a vector </p>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a> </td>
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<p>Default constructor without initialization of the meaningful coefficients. If Mode==Affine, then the last row is set to [0 ... 0 1] </p>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac0984f0c0fc7cdcea1c0bde170f9c925">Eigen::Affine</a>.</p>
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<p>Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. </p>
<p>References <a class="el" href="structEigen_1_1EigenBase.html#aa84222add803ad7c9db07dd4dd91d5d9">EigenBase< Derived >::derived()</a>.</p>
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<p>Initializes <code>*this</code> from a QMatrix assuming the dimension is 2.</p>
<p>This function is available only if the token EIGEN_QT_SUPPORT is defined. </p>
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<td class="paramtype">const QTransform< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, _Options > & </td>
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<p>Initializes <code>*this</code> from a QTransform assuming the dimension is 2.</p>
<p>This function is available only if the token EIGEN_QT_SUPPORT is defined. </p>
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<p>Copy constructor with scalar type conversion </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#a76d43dc15b6966af98842e5219152cf2">ConstAffinePart</a> affine </td>
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<dl class="section return"><dt>Returns</dt><dd>a read-only expression of the Dim x HDim affine part of the transformation </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#aa15d55b76aa1df369db63ff8c000d71a">AffinePart</a> affine </td>
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<dl class="section return"><dt>Returns</dt><dd>a writable expression of the Dim x HDim affine part of the transformation </dd></dl>
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<td class="memname">internal::cast_return_type<<a class="el" href="classEigen_1_1Transform.html">Transform</a>,<a class="el" href="classEigen_1_1Transform.html">Transform</a><NewScalarType,Dim,Mode,Options> >::type cast </td>
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<dl class="section return"><dt>Returns</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>
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<td class="memname">void computeRotationScaling </td>
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<td class="paramtype">RotationMatrixType * </td>
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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>
<p>This is defined in the SVD module.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include <Eigen/SVD></span> </div>
</div><!-- fragment --><dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1Transform.html#ac85861889115ef75aaecec5eb7582f12">computeScalingRotation()</a>, <a class="el" href="classEigen_1_1Transform.html#a0c792f75e5e52207a6c011d8104367ac">rotation()</a>, class SVD </dd></dl>
<p>References <a class="el" href="group__enums.html#gga2d78499b99ddc29b9494f7ea33864d52a75953ad8f5837a79d6fbd3c116e7d462">Eigen::ComputeFullU</a>, <a class="el" href="group__enums.html#gga2d78499b99ddc29b9494f7ea33864d52a1785ac1174dab733556ac572448984c7">Eigen::ComputeFullV</a>, <a class="el" href="classEigen_1_1JacobiSVD.html#a49e16a4adf4fe58a2d65a5e5a31e7654">JacobiSVD< MatrixType, QRPreconditioner >::matrixU()</a>, <a class="el" href="classEigen_1_1JacobiSVD.html#ae5158ab7ca44a705c2a3b56ec926b42a">JacobiSVD< MatrixType, QRPreconditioner >::matrixV()</a>, and <a class="el" href="classEigen_1_1JacobiSVD.html#a48d4068b97dfbb83d62599e56e26797a">JacobiSVD< MatrixType, QRPreconditioner >::singularValues()</a>.</p>
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<td class="memname">void computeScalingRotation </td>
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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>
<p>This is defined in the SVD module.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include <Eigen/SVD></span> </div>
</div><!-- fragment --><dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1Transform.html#ad84ac89e9b8499975bad62a9db9f8b4c">computeRotationScaling()</a>, <a class="el" href="classEigen_1_1Transform.html#a0c792f75e5e52207a6c011d8104367ac">rotation()</a>, class SVD </dd></dl>
<p>References <a class="el" href="group__enums.html#gga2d78499b99ddc29b9494f7ea33864d52a75953ad8f5837a79d6fbd3c116e7d462">Eigen::ComputeFullU</a>, <a class="el" href="group__enums.html#gga2d78499b99ddc29b9494f7ea33864d52a1785ac1174dab733556ac572448984c7">Eigen::ComputeFullV</a>, <a class="el" href="classEigen_1_1JacobiSVD.html#a49e16a4adf4fe58a2d65a5e5a31e7654">JacobiSVD< MatrixType, QRPreconditioner >::matrixU()</a>, <a class="el" href="classEigen_1_1JacobiSVD.html#ae5158ab7ca44a705c2a3b56ec926b42a">JacobiSVD< MatrixType, QRPreconditioner >::matrixV()</a>, and <a class="el" href="classEigen_1_1JacobiSVD.html#a48d4068b97dfbb83d62599e56e26797a">JacobiSVD< MatrixType, QRPreconditioner >::singularValues()</a>.</p>
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<td class="memname">const <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>* data </td>
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<dl class="section return"><dt>Returns</dt><dd>a const pointer to the column major internal matrix </dd></dl>
<p>References <a class="el" href="classEigen_1_1PlainObjectBase.html#a40dcc334db75411e168691d9bce08c3a">PlainObjectBase< Derived >::data()</a>.</p>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>* data </td>
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<dl class="section return"><dt>Returns</dt><dd>a non-const pointer to the column major internal matrix </dd></dl>
<p>References <a class="el" href="classEigen_1_1PlainObjectBase.html#a40dcc334db75411e168691d9bce08c3a">PlainObjectBase< Derived >::data()</a>.</p>
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<td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE </td>
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<td class="paramname"> = <code>=<a class="el" href="namespaceEigen.html#adc9da5be31bdce40c25a92c27999c0e3">Dynamic</a> ? <a class="el" href="namespaceEigen.html#adc9da5be31bdce40c25a92c27999c0e3">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>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">Eigen::AffineCompact</a>.</p>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,Mode,Options>& 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>References <a class="el" href="classEigen_1_1MatrixBase.html#adaf22d3a2069ec2c0df912cb87329e9c">MatrixBase< Derived >::asDiagonal()</a>.</p>
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<p>Returns an identity transformation. </p>
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<dl class="section return"><dt>Returns</dt><dd>the inverse transformation according to some given knowledge on <code>*this</code>.</dd></dl>
<dl class="params"><dt>Parameters</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#gga302a826315506a7217d4b477ea78425fa732168807730e0e931f3c5792b99b672">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#gga302a826315506a7217d4b477ea78425fac0984f0c0fc7cdcea1c0bde170f9c925">Affine</a> if the last row can be assumed to be [0 ... 0 1]</li>
<li><a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">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="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1MatrixBase.html#aa2834da4c855fa35fed8c4030f79f9da">MatrixBase::inverse()</a> </dd></dl>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac0984f0c0fc7cdcea1c0bde170f9c925">Eigen::Affine</a>, <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Eigen::Isometry</a>, and <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fa732168807730e0e931f3c5792b99b672">Eigen::Projective</a>.</p>
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<td class="memname">bool isApprox </td>
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<td class="paramname"><em>prec</em> = <code><a class="el" href="structEigen_1_1NumTraits.html">NumTraits</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>>::dummy_precision()</code> </td>
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<dl class="section return"><dt>Returns</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="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1DenseBase.html#a158c2184951e6e415c2e9b98db8e8966">MatrixBase::isApprox()</a> </dd></dl>
<p>References <a class="el" href="classEigen_1_1DenseBase.html#a158c2184951e6e415c2e9b98db8e8966">DenseBase< Derived >::isApprox()</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>a read-only expression of the linear part of the transformation </dd></dl>
<p>Referenced by <a class="el" href="classEigen_1_1Translation.html#a51ca261eeb17be60393fdbee5119cd0a">Translation< Scalar, Dim >::operator*()</a>, <a class="el" href="classEigen_1_1Transform.html#a4c475d88c97a844134130c603b4c6fe6">Transform< Scalar, Dim, Mode, _Options >::operator*()</a>, and <a class="el" href="classEigen_1_1Hyperplane.html#ae5243c6aa230fcd95572c3a99cdd014d">Hyperplane< _Scalar, _AmbientDim, Options >::transform()</a>.</p>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#ace20e267fb08cb804ed64fd1dad1d17c">LinearPart</a> linear </td>
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<dl class="section return"><dt>Returns</dt><dd>a writable expression of the linear part of the transformation </dd></dl>
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<td class="memname">void makeAffine </td>
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<p>Sets the last row to [0 ... 0 1] </p>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">Eigen::AffineCompact</a>.</p>
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<td class="memname">const <a class="el" href="classEigen_1_1Transform.html#a5a1112983fef15f856661bc7a70821c2">MatrixType</a>& matrix </td>
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<dl class="section return"><dt>Returns</dt><dd>a read-only expression of the transformation matrix </dd></dl>
<p>Referenced by <a class="el" href="classEigen_1_1Translation.html#a51ca261eeb17be60393fdbee5119cd0a">Translation< Scalar, Dim >::operator*()</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>a writable expression of the transformation matrix </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a> operator() </td>
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<p>shortcut for m_matrix(row,col); </p>
<dl class="section see"><dt>See Also</dt><dd>MatrixBase::operator(Index,Index) const </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>& operator() </td>
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<p>shortcut for m_matrix(row,col); </p>
<dl class="section see"><dt>See Also</dt><dd>MatrixBase::operator(Index,Index) </dd></dl>
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<td class="memname">const internal::transform_right_product_impl<<a class="el" href="classEigen_1_1Transform.html">Transform</a>, OtherDerived>::ResultType operator* </td>
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<dl class="section return"><dt>Returns</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>
<ul>
<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>
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<p>References <a class="el" href="structEigen_1_1EigenBase.html#aa84222add803ad7c9db07dd4dd91d5d9">EigenBase< Derived >::derived()</a>.</p>
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<td class="memname">const <a class="el" href="classEigen_1_1Transform.html#adb187d1758687a8de4dd9ea275f2a0a7">TransformTimeDiagonalReturnType</a> operator* </td>
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<dl class="section return"><dt>Returns</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="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">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>References <a class="el" href="classEigen_1_1Transform.html#abbee559820c5cdfe7653a646396b0a8f">Transform< Scalar, Dim, Mode, _Options >::linear()</a>.</p>
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<td class="memname">const <a class="el" href="classEigen_1_1Transform.html">Transform</a> operator* </td>
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<p>Concatenates two transformations </p>
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<td class="memname">internal::transform_transform_product_impl<<a class="el" href="classEigen_1_1Transform.html">Transform</a>,<a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,OtherMode,OtherOptions> >::ResultType operator* </td>
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<p>Concatenates two different transformations </p>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a>& operator= </td>
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<p>Set <code>*this</code> from a Dim^2 or (Dim+1)^2 matrix. </p>
<p>References <a class="el" href="structEigen_1_1EigenBase.html#aa84222add803ad7c9db07dd4dd91d5d9">EigenBase< Derived >::derived()</a>.</p>
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<p>Set <code>*this</code> from a QMatrix assuming the dimension is 2.</p>
<p>This function is available only if the token EIGEN_QT_SUPPORT is defined. </p>
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<p>Set <code>*this</code> from a QTransform assuming the dimension is 2.</p>
<p>This function is available only if the token EIGEN_QT_SUPPORT is defined. </p>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">Eigen::AffineCompact</a>.</p>
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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 rotate() for further details.</p>
<dl class="section see"><dt>See Also</dt><dd>rotate() </dd></dl>
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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="section see"><dt>See Also</dt><dd>scale(Scalar) </dd></dl>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Eigen::Isometry</a>.</p>
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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="section see"><dt>See Also</dt><dd>scale() </dd></dl>
<p>References <a class="el" href="classEigen_1_1MatrixBase.html#adaf22d3a2069ec2c0df912cb87329e9c">MatrixBase< Derived >::asDiagonal()</a>, and <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Eigen::Isometry</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="section warning"><dt>Warning</dt><dd>2D only. </dd></dl>
<dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1Transform.html#a44ffe4dae84e42589daf1b9047320ce6">shear()</a> </dd></dl>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Eigen::Isometry</a>.</p>
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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="section see"><dt>See Also</dt><dd>translate() </dd></dl>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fa732168807730e0e931f3c5792b99b672">Eigen::Projective</a>, and <a class="el" href="classEigen_1_1DenseBase.html#aa8716d44f51321072ee5c88665c28813">DenseBase< Derived >::row()</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 internal::toRotationMatrix<>.</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="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a> (3D),</li>
<li>a <a class="el" href="classEigen_1_1AngleAxis.html" title="Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. ">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="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a> for 4D rotations.</p>
<dl class="section see"><dt>See Also</dt><dd>rotate(Scalar), class <a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a>, class <a class="el" href="classEigen_1_1AngleAxis.html" title="Represents a 3D rotation as a rotation angle around an arbitrary 3D axis. ">AngleAxis</a>, prerotate(RotationType) </dd></dl>
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<td class="memname">const <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, Options >::<a class="el" href="classEigen_1_1Transform.html#ade2ee06371d257b0eff58531d95a6474">LinearMatrixType</a> rotation </td>
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<dl class="section return"><dt>Returns</dt><dd>the rotation part of the transformation</dd></dl>
<p>This is defined in the SVD module.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include <Eigen/SVD></span> </div>
</div><!-- fragment --><dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1Transform.html#ad84ac89e9b8499975bad62a9db9f8b4c">computeRotationScaling()</a>, <a class="el" href="classEigen_1_1Transform.html#ac85861889115ef75aaecec5eb7582f12">computeScalingRotation()</a>, class SVD </dd></dl>
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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="section see"><dt>See Also</dt><dd>prescale(Scalar) </dd></dl>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Eigen::Isometry</a>.</p>
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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="section see"><dt>See Also</dt><dd>prescale() </dd></dl>
<p>References <a class="el" href="classEigen_1_1MatrixBase.html#adaf22d3a2069ec2c0df912cb87329e9c">MatrixBase< Derived >::asDiagonal()</a>, and <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Eigen::Isometry</a>.</p>
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<td class="memname">void setIdentity </td>
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<dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1MatrixBase.html#af1b15ae4c6f69b7324dd8ef70089dfc3">MatrixBase::setIdentity()</a> </dd></dl>
<p>References <a class="el" href="classEigen_1_1MatrixBase.html#af1b15ae4c6f69b7324dd8ef70089dfc3">MatrixBase< Derived >::setIdentity()</a>.</p>
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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="section warning"><dt>Warning</dt><dd>2D only. </dd></dl>
<dl class="section see"><dt>See Also</dt><dd><a class="el" href="classEigen_1_1Transform.html#a5448d7cb18b99426d18dfc3a18c0f4a7">preshear()</a> </dd></dl>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425fac6ccc3814bb6d2a8bf7f75d7131c6b17">Eigen::Isometry</a>.</p>
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<td class="memname">QMatrix toQMatrix </td>
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<dl class="section return"><dt>Returns</dt><dd>a QMatrix from <code>*this</code> assuming the dimension is 2.</dd></dl>
<dl class="section warning"><dt>Warning</dt><dd>this conversion might loss data if <code>*this</code> is not affine</dd></dl>
<p>This function is available only if the token EIGEN_QT_SUPPORT is defined. </p>
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<td class="memname">QTransform toQTransform </td>
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<dl class="section return"><dt>Returns</dt><dd>a QTransform from <code>*this</code> assuming the dimension is 2.</dd></dl>
<p>This function is available only if the token EIGEN_QT_SUPPORT is defined. </p>
<p>References <a class="el" href="group__enums.html#gga302a826315506a7217d4b477ea78425faff9f02205c7dca9999837f996df1d06e">Eigen::AffineCompact</a>.</p>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html">Transform</a><<a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>,Dim,Mode,Options>& translate </td>
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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="section see"><dt>See Also</dt><dd>pretranslate() </dd></dl>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#a4b5352e0747f0354c659edf2eff9f35b">ConstTranslationPart</a> translation </td>
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<dl class="section return"><dt>Returns</dt><dd>a read-only expression of the translation vector of the transformation </dd></dl>
<p>Referenced by <a class="el" href="classEigen_1_1Translation.html#a51ca261eeb17be60393fdbee5119cd0a">Translation< Scalar, Dim >::operator*()</a>, and <a class="el" href="classEigen_1_1Hyperplane.html#ae5243c6aa230fcd95572c3a99cdd014d">Hyperplane< _Scalar, _AmbientDim, Options >::transform()</a>.</p>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#aa94dac47195ab409fd1535c152405505">TranslationPart</a> translation </td>
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<dl class="section return"><dt>Returns</dt><dd>a writable expression of the translation vector of the transformation </dd></dl>
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<h2 class="groupheader">Friends And Related Function Documentation</h2>
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<td class="memname">const internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType operator* </td>
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<dl class="section return"><dt>Returns</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>
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<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>
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<td class="memname"><a class="el" href="classEigen_1_1Transform.html#adb187d1758687a8de4dd9ea275f2a0a7">TransformTimeDiagonalReturnType</a> operator* </td>
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<td class="paramtype">const <a class="el" href="classEigen_1_1Transform.html">Transform</a>< <a class="el" href="classEigen_1_1Transform.html#aea29b63b6c32046ae9a471d82c5cf869">Scalar</a>, Dim, Mode, _Options > & </td>
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<dl class="section return"><dt>Returns</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="classEigen_1_1Transform.html" title="Represents an homogeneous transformation in a N dimensional space. ">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>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="ForwardDeclarations_8h_source.html">ForwardDeclarations.h</a></li>
<li><a class="el" href="Transform_8h_source.html">Transform.h</a></li>
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