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* Extend a bit ParametrizedLine and move it to a separate file,

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add unit-tests for it.
* remove "using namespace std" in test/main.h such that the compilation
  bug found today in SVD won't happen again.
This commit is contained in:
Gael Guennebaud
2008-09-03 22:35:45 +00:00
parent c29c7b0ea9
commit 52406aecad
8 changed files with 206 additions and 78 deletions
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66
Eigen/src/Geometry/Hyperplane.h
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@@ -26,48 +26,6 @@
#ifndef EIGEN_HYPERPLANE_H
#define EIGEN_HYPERPLANE_H
/** \geometry_module \ingroup GeometryModule
*
* \class ParametrizedLine
*
* \brief A parametrized line
*
* \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
#ifdef EIGEN_VECTORIZE
: public ei_with_aligned_operator_new<_Scalar,_AmbientDim>
#endif
{
public:
enum { AmbientDimAtCompileTime = _AmbientDim };
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
~ParametrizedLine() {}
const VectorType& origin() const { return m_origin; }
VectorType& origin() { return m_origin; }
const VectorType& direction() const { return m_direction; }
VectorType& direction() { return m_direction; }
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
protected:
VectorType m_origin, m_direction;
};
/** \geometry_module \ingroup GeometryModule
*
* \class Hyperplane
@@ -103,7 +61,7 @@ class Hyperplane
typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
/** Default constructor without initialization */
inline Hyperplane(int _dim = AmbientDimAtCompileTime) : m_coeffs(_dim+1) {}
inline explicit Hyperplane(int _dim = AmbientDimAtCompileTime) : m_coeffs(_dim+1) {}
/** Construct a plane from its normal \a n and a point \a e onto the plane.
* \warning the vector normal is assumed to be normalized.
@@ -175,7 +133,6 @@ class Hyperplane
/** \returns the projection of a point \a p onto the plane \c *this.
*/
inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
/** \returns a constant reference to the unit normal vector of the plane, which corresponds
@@ -261,25 +218,4 @@ protected:
Coefficients m_coeffs;
};
/** Construct a parametrized line from a 2D hyperplane
*
* \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
*/
template <typename _Scalar, int _AmbientDim>
ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2);
direction() = hyperplane.normal().unitOrthogonal();
origin() = -hyperplane.normal()*hyperplane.offset();
}
/** \returns the parameter value of the intersection between *this and the given 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()));
}
#endif // EIGEN_HYPERPLANE_H

118
Eigen/src/Geometry/ParametrizedLine.h Normal file
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@@ -0,0 +1,118 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra. Eigen itself is part of the KDE project.
//
// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
// Copyright (C) 2008 Benoit Jacob <jacob@math.jussieu.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_PARAMETRIZEDLINE_H
#define EIGEN_PARAMETRIZEDLINE_H
/** \geometry_module \ingroup GeometryModule
*
* \class ParametrizedLine
*
* \brief A parametrized line
*
* \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
#ifdef EIGEN_VECTORIZE
: public ei_with_aligned_operator_new<_Scalar,_AmbientDim>
#endif
{
public:
enum { AmbientDimAtCompileTime = _AmbientDim };
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
/** Default constructor without initialization */
inline explicit ParametrizedLine(int _dim = AmbientDimAtCompileTime)
: m_origin(_dim), m_direction(_dim)
{}
ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
~ParametrizedLine() {}
/** \returns the dimension in which the line holds */
inline int dim() const { return m_direction.size(); }
const VectorType& origin() const { return m_origin; }
VectorType& origin() { return m_origin; }
const VectorType& direction() const { return m_direction; }
VectorType& direction() { return m_direction; }
/** \returns the squared distance of a point \a p to its projection onto the line \c *this.
* \sa distance()
*/
RealScalar squaredDistance(const VectorType& p) const
{
VectorType diff = p-origin();
return (diff - diff.dot(direction())* direction()).norm2();
}
/** \returns the distance of a point \a p to its projection onto the line \c *this.
* \sa squaredDistance()
*/
RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); }
/** \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(); }
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
protected:
VectorType m_origin, m_direction;
};
/** Construct a parametrized line from a 2D hyperplane
*
* \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
*/
template <typename _Scalar, int _AmbientDim>
inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2);
direction() = hyperplane.normal().unitOrthogonal();
origin() = -hyperplane.normal()*hyperplane.offset();
}
/** \returns the parameter value of the intersection between *this and the given 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()));
}
#endif // EIGEN_PARAMETRIZEDLINE_H