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make the dot product linear in the second variable, not the first variable

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Benoit Jacob
2009-08-03 17:20:45 +02:00
parent 912da9fade
commit 523cdedf58
9 changed files with 26 additions and 26 deletions
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10
Eigen/src/Geometry/ParametrizedLine.h
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@@ -84,8 +84,8 @@ public:
*/
RealScalar squaredDistance(const VectorType& p) const
{
VectorType diff = p-origin();
return (diff - diff.dot(direction())* direction()).squaredNorm();
VectorType diff = p - origin();
return (diff - direction().dot(diff) * direction()).squaredNorm();
}
/** \returns the distance of a point \a p to its projection onto the line \c *this.
* \sa squaredDistance()
@@ -94,7 +94,7 @@ public:
/** \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(); }
{ return origin() + direction().dot(p-origin()) * direction(); }
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
@@ -148,8 +148,8 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane
template <typename _Scalar, int _AmbientDim>
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
{
return -(hyperplane.offset()+origin().dot(hyperplane.normal()))
/(direction().dot(hyperplane.normal()));
return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
/ hyperplane.normal().dot(direction());
}
#endif // EIGEN_PARAMETRIZEDLINE_H