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some cleaning and doc in ParametrizedLine and HyperPlane

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Just a thought: what about ParamLine instead of the verbose ParametrizedLine ?
This commit is contained in:
Gael Guennebaud
2008-10-25 00:08:52 +00:00
parent 8ea8b481de
commit 0c5a09d93f
3 changed files with 63 additions and 26 deletions
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30
Eigen/src/Geometry/ParametrizedLine.h
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@@ -32,9 +32,12 @@
*
* \brief A parametrized line
*
* A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
* direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
* the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ l \in \mathbf{R} \f$.
*
* \param _Scalar the scalar type, i.e., the type of the coefficients
* \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
* Notice that the dimension of the hyperplane is _AmbientDim-1.
*/
template <typename _Scalar, int _AmbientDim>
class ParametrizedLine
@@ -50,14 +53,24 @@ class ParametrizedLine
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
/** Default constructor without initialization */
inline explicit ParametrizedLine(int _dim = AmbientDimAtCompileTime)
: m_origin(_dim), m_direction(_dim)
{}
inline explicit ParametrizedLine() {}
/** Constructs a dynamic-size line with \a _dim the dimension
* of the ambient space */
inline explicit ParametrizedLine(int _dim) : m_origin(_dim), m_direction(_dim) {}
/** Initializes a parametrized line of direction \a direction and origin \a origin.
* \warning the vector direction is assumed to be normalized.
*/
ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
/** Constructs a parametrized line going from \a p0 to \a p1. */
static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
{ return ParametrizedLine(p0, (p1-p0).normalized()); }
~ParametrizedLine() {}
/** \returns the dimension in which the line holds */
@@ -82,8 +95,7 @@ class ParametrizedLine
*/
RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); }
/** \returns the projection of a point \a p onto the line \c *this.
*/
/** \returns the projection of a point \a p onto the line \c *this. */
VectorType projection(const VectorType& p) const
{ return origin() + (p-origin()).dot(direction()) * direction(); }
@@ -94,7 +106,7 @@ class ParametrizedLine
VectorType m_origin, m_direction;
};
/** Construct a parametrized line from a 2D hyperplane
/** Constructs a parametrized line from a 2D hyperplane
*
* \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
*/
@@ -106,7 +118,7 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane
origin() = -hyperplane.normal()*hyperplane.offset();
}
/** \returns the parameter value of the intersection between *this and the given hyperplane
/** \returns the parameter value of the intersection between \c *this and the given hyperplane
*/
template <typename _Scalar, int _AmbientDim>
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)