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add an Options template parameter to Hyperplane and ParametrizedLine

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This commit is contained in:
Gael Guennebaud
2011-01-27 17:17:06 +01:00
parent d5e81d866a
commit 955e096277
6 changed files with 111 additions and 30 deletions
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4
Eigen/src/Core/util/ForwardDeclarations.h
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@@ -247,8 +247,8 @@ template<typename Scalar,int Dim> class Scaling;
#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
template <typename _Scalar, int _AmbientDim> class Hyperplane;
template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
template<typename Scalar> class UniformScaling;
template<typename MatrixType,int Direction> class Homogeneous;
#endif

25
Eigen/src/Geometry/Hyperplane.h
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@@ -43,24 +43,32 @@
* \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
* and \f$ d \f$ is the distance (offset) to the origin.
*/
template <typename _Scalar, int _AmbientDim>
template <typename _Scalar, int _AmbientDim, int _Options>
class Hyperplane
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
enum { AmbientDimAtCompileTime = _AmbientDim };
enum {
AmbientDimAtCompileTime = _AmbientDim,
Options = _Options
};
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef DenseIndex Index;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
? Dynamic
: Index(AmbientDimAtCompileTime)+1,1> Coefficients;
: Index(AmbientDimAtCompileTime)+1,1,Options> Coefficients;
typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
/** Default constructor without initialization */
inline explicit Hyperplane() {}
template<int OtherOptions>
Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
: m_coeffs(other.coeffs())
{}
/** Constructs a dynamic-size hyperplane with \a _dim the dimension
* of the ambient space */
@@ -245,22 +253,23 @@ public:
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<Hyperplane,
Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
{
return typename internal::cast_return_type<Hyperplane,
Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
}
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime>& other)
template<typename OtherScalarType,int OtherOptions>
inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
{ m_coeffs = other.coeffs().template cast<Scalar>(); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const Hyperplane& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
template<int OtherOptions>
bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
protected:

38
Eigen/src/Geometry/ParametrizedLine.h
View File

@@ -39,19 +39,27 @@
* \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.
*/
template <typename _Scalar, int _AmbientDim>
template <typename _Scalar, int _AmbientDim, int _Options>
class ParametrizedLine
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
enum { AmbientDimAtCompileTime = _AmbientDim };
enum {
AmbientDimAtCompileTime = _AmbientDim,
Options = _Options
};
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef DenseIndex Index;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
/** Default constructor without initialization */
inline explicit ParametrizedLine() {}
template<int OtherOptions>
ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
: m_origin(other.origin()), m_direction(other.direction())
{}
/** Constructs a dynamic-size line with \a _dim the dimension
* of the ambient space */
@@ -63,7 +71,8 @@ public:
ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
template <int OtherOptions>
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
/** Constructs a parametrized line going from \a p0 to \a p1. */
static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
@@ -97,7 +106,8 @@ public:
VectorType projection(const VectorType& p) const
{ return origin() + direction().dot(p-origin()) * direction(); }
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
template <int OtherOptions>
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
/** \returns \c *this with scalar type casted to \a NewScalarType
*
@@ -106,15 +116,15 @@ public:
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<ParametrizedLine,
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
{
return typename internal::cast_return_type<ParametrizedLine,
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
}
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime>& other)
template<typename OtherScalarType,int OtherOptions>
inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
{
m_origin = other.origin().template cast<Scalar>();
m_direction = other.direction().template cast<Scalar>();
@@ -136,8 +146,9 @@ protected:
*
* \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)
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
direction() = hyperplane.normal().unitOrthogonal();
@@ -146,8 +157,9 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const 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)
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane)
{
return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
/ hyperplane.normal().dot(direction());