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Tobias Wood
@@ -52,76 +52,83 @@
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namespace Eigen {
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/** \geometry_module \ingroup Geometry_Module
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*
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*
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* \class AlignedBox
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*
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* \brief An axis aligned box
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*
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* \tparam Scalar_ the type of the scalar coefficients
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* \tparam AmbientDim_ the dimension of the ambient space, can be a compile time value or Dynamic.
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*
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* This class represents an axis aligned box as a pair of the minimal and maximal corners.
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* \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using isEmpty().
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* \sa alignedboxtypedefs
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*/
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*
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*
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* \class AlignedBox
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*
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* \brief An axis aligned box
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*
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* \tparam Scalar_ the type of the scalar coefficients
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* \tparam AmbientDim_ the dimension of the ambient space, can be a compile time value or Dynamic.
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*
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* This class represents an axis aligned box as a pair of the minimal and maximal corners.
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* \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using
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* isEmpty(). \sa alignedboxtypedefs
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*/
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template <typename Scalar_, int AmbientDim_>
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class AlignedBox
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
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class AlignedBox {
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_, AmbientDim_)
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enum { AmbientDimAtCompileTime = AmbientDim_ };
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typedef Scalar_ Scalar;
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typedef NumTraits<Scalar> ScalarTraits;
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typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
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typedef typename ScalarTraits::Real RealScalar;
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typedef typename ScalarTraits::NonInteger NonInteger;
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typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
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typedef Scalar_ Scalar;
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typedef NumTraits<Scalar> ScalarTraits;
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typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
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typedef typename ScalarTraits::Real RealScalar;
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typedef typename ScalarTraits::NonInteger NonInteger;
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typedef Matrix<Scalar, AmbientDimAtCompileTime, 1> VectorType;
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typedef CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> VectorTypeSum;
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/** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
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enum CornerType
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{
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enum CornerType {
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/** 1D names @{ */
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Min=0, Max=1,
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Min = 0,
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Max = 1,
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/** @} */
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/** Identifier for 2D corner @{ */
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BottomLeft=0, BottomRight=1,
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TopLeft=2, TopRight=3,
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BottomLeft = 0,
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BottomRight = 1,
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TopLeft = 2,
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TopRight = 3,
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/** @} */
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/** Identifier for 3D corner @{ */
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BottomLeftFloor=0, BottomRightFloor=1,
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TopLeftFloor=2, TopRightFloor=3,
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BottomLeftCeil=4, BottomRightCeil=5,
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TopLeftCeil=6, TopRightCeil=7
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BottomLeftFloor = 0,
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BottomRightFloor = 1,
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TopLeftFloor = 2,
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TopRightFloor = 3,
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BottomLeftCeil = 4,
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BottomRightCeil = 5,
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TopLeftCeil = 6,
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TopRightCeil = 7
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/** @} */
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};
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/** Default constructor initializing a null box. */
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EIGEN_DEVICE_FUNC inline AlignedBox()
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{ if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=Dynamic)) setEmpty(); }
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EIGEN_DEVICE_FUNC inline AlignedBox() {
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if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime != Dynamic)) setEmpty();
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}
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/** Constructs a null box with \a _dim the dimension of the ambient space. */
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EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
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{ setEmpty(); }
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EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim) { setEmpty(); }
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/** Constructs a box with extremities \a _min and \a _max.
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* \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */
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template<typename OtherVectorType1, typename OtherVectorType2>
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EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
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* \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty.
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*/
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template <typename OtherVectorType1, typename OtherVectorType2>
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EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max)
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: m_min(_min), m_max(_max) {}
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/** Constructs a box containing a single point \a p. */
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template<typename Derived>
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EIGEN_DEVICE_FUNC inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
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{ }
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template <typename Derived>
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EIGEN_DEVICE_FUNC inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min) {}
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EIGEN_DEVICE_FUNC ~AlignedBox() {}
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/** \returns the dimension in which the box holds */
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EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
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EIGEN_DEVICE_FUNC inline Index dim() const {
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return AmbientDimAtCompileTime == Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime);
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}
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/** \deprecated use isEmpty() */
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EIGEN_DEVICE_FUNC inline bool isNull() const { return isEmpty(); }
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@@ -135,64 +142,69 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
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/** Makes \c *this an empty box.
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* \sa isEmpty */
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EIGEN_DEVICE_FUNC inline void setEmpty()
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{
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m_min.setConstant( ScalarTraits::highest() );
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m_max.setConstant( ScalarTraits::lowest() );
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EIGEN_DEVICE_FUNC inline void setEmpty() {
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m_min.setConstant(ScalarTraits::highest());
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m_max.setConstant(ScalarTraits::lowest());
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}
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/** \returns the minimal corner */
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EIGEN_DEVICE_FUNC inline const VectorType& (min)() const { return m_min; }
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EIGEN_DEVICE_FUNC inline const VectorType&(min)() const { return m_min; }
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/** \returns a non const reference to the minimal corner */
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EIGEN_DEVICE_FUNC inline VectorType& (min)() { return m_min; }
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EIGEN_DEVICE_FUNC inline VectorType&(min)() { return m_min; }
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/** \returns the maximal corner */
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EIGEN_DEVICE_FUNC inline const VectorType& (max)() const { return m_max; }
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EIGEN_DEVICE_FUNC inline const VectorType&(max)() const { return m_max; }
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/** \returns a non const reference to the maximal corner */
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EIGEN_DEVICE_FUNC inline VectorType& (max)() { return m_max; }
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EIGEN_DEVICE_FUNC inline VectorType&(max)() { return m_max; }
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/** \returns the center of the box */
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EIGEN_DEVICE_FUNC inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient)
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center() const
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{ return (m_min+m_max)/RealScalar(2); }
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center() const {
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return (m_min + m_max) / RealScalar(2);
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}
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/** \returns the lengths of the sides of the bounding box.
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* Note that this function does not get the same
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* result for integral or floating scalar types: see
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*/
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EIGEN_DEVICE_FUNC inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> sizes() const
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{ return m_max - m_min; }
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* Note that this function does not get the same
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* result for integral or floating scalar types: see
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*/
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EIGEN_DEVICE_FUNC inline const CwiseBinaryOp<internal::scalar_difference_op<Scalar, Scalar>, const VectorType,
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const VectorType>
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sizes() const {
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return m_max - m_min;
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}
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/** \returns the volume of the bounding box */
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EIGEN_DEVICE_FUNC inline Scalar volume() const
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{ return sizes().prod(); }
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EIGEN_DEVICE_FUNC inline Scalar volume() const { return sizes().prod(); }
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/** \returns an expression for the bounding box diagonal vector
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* if the length of the diagonal is needed: diagonal().norm()
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* will provide it.
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*/
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EIGEN_DEVICE_FUNC inline CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> diagonal() const
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{ return sizes(); }
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* if the length of the diagonal is needed: diagonal().norm()
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* will provide it.
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*/
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EIGEN_DEVICE_FUNC inline CwiseBinaryOp<internal::scalar_difference_op<Scalar, Scalar>, const VectorType,
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const VectorType>
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diagonal() const {
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return sizes();
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}
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/** \returns the vertex of the bounding box at the corner defined by
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* the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
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* For 1D bounding boxes corners are named by 2 enum constants:
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* BottomLeft and BottomRight.
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* For 2D bounding boxes, corners are named by 4 enum constants:
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* BottomLeft, BottomRight, TopLeft, TopRight.
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* For 3D bounding boxes, the following names are added:
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* BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
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*/
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EIGEN_DEVICE_FUNC inline VectorType corner(CornerType corner) const
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{
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* the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
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* For 1D bounding boxes corners are named by 2 enum constants:
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* BottomLeft and BottomRight.
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* For 2D bounding boxes, corners are named by 4 enum constants:
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* BottomLeft, BottomRight, TopLeft, TopRight.
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* For 3D bounding boxes, the following names are added:
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* BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
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*/
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EIGEN_DEVICE_FUNC inline VectorType corner(CornerType corner) const {
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EIGEN_STATIC_ASSERT(AmbientDim_ <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
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VectorType res;
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Index mult = 1;
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for(Index d=0; d<dim(); ++d)
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{
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if( mult & corner ) res[d] = m_max[d];
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else res[d] = m_min[d];
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for (Index d = 0; d < dim(); ++d) {
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if (mult & corner)
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res[d] = m_max[d];
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else
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res[d] = m_min[d];
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mult *= 2;
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}
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return res;
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@@ -200,45 +212,40 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
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/** \returns a random point inside the bounding box sampled with
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* a uniform distribution */
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EIGEN_DEVICE_FUNC inline VectorType sample() const
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{
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EIGEN_DEVICE_FUNC inline VectorType sample() const {
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VectorType r(dim());
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for(Index d=0; d<dim(); ++d)
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{
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if(!ScalarTraits::IsInteger)
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{
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r[d] = m_min[d] + (m_max[d]-m_min[d])
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* internal::random<Scalar>(Scalar(0), Scalar(1));
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}
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else
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for (Index d = 0; d < dim(); ++d) {
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if (!ScalarTraits::IsInteger) {
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r[d] = m_min[d] + (m_max[d] - m_min[d]) * internal::random<Scalar>(Scalar(0), Scalar(1));
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} else
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r[d] = internal::random(m_min[d], m_max[d]);
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}
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return r;
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}
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/** \returns true if the point \a p is inside the box \c *this. */
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template<typename Derived>
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EIGEN_DEVICE_FUNC inline bool contains(const MatrixBase<Derived>& p) const
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{
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typename internal::nested_eval<Derived,2>::type p_n(p.derived());
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return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
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template <typename Derived>
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EIGEN_DEVICE_FUNC inline bool contains(const MatrixBase<Derived>& p) const {
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typename internal::nested_eval<Derived, 2>::type p_n(p.derived());
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return (m_min.array() <= p_n.array()).all() && (p_n.array() <= m_max.array()).all();
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}
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/** \returns true if the box \a b is entirely inside the box \c *this. */
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EIGEN_DEVICE_FUNC inline bool contains(const AlignedBox& b) const
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{ return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
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EIGEN_DEVICE_FUNC inline bool contains(const AlignedBox& b) const {
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return (m_min.array() <= (b.min)().array()).all() && ((b.max)().array() <= m_max.array()).all();
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}
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/** \returns true if the box \a b is intersecting the box \c *this.
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* \sa intersection, clamp */
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EIGEN_DEVICE_FUNC inline bool intersects(const AlignedBox& b) const
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{ return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
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EIGEN_DEVICE_FUNC inline bool intersects(const AlignedBox& b) const {
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return (m_min.array() <= (b.max)().array()).all() && ((b.min)().array() <= m_max.array()).all();
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}
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/** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
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* \sa extend(const AlignedBox&) */
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template<typename Derived>
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EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p)
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{
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typename internal::nested_eval<Derived,2>::type p_n(p.derived());
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template <typename Derived>
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EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p) {
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typename internal::nested_eval<Derived, 2>::type p_n(p.derived());
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m_min = m_min.cwiseMin(p_n);
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m_max = m_max.cwiseMax(p_n);
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return *this;
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@@ -246,8 +253,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
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/** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
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* \sa merged, extend(const MatrixBase&) */
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EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b)
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{
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EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b) {
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m_min = m_min.cwiseMin(b.m_min);
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m_max = m_max.cwiseMax(b.m_max);
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return *this;
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@@ -256,8 +262,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
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/** Clamps \c *this by the box \a b and returns a reference to \c *this.
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* \note If the boxes don't intersect, the resulting box is empty.
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* \sa intersection(), intersects() */
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EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b)
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{
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EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b) {
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m_min = m_min.cwiseMax(b.m_min);
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m_max = m_max.cwiseMin(b.m_max);
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return *this;
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@@ -266,69 +271,70 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
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/** Returns an AlignedBox that is the intersection of \a b and \c *this
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* \note If the boxes don't intersect, the resulting box is empty.
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* \sa intersects(), clamp, contains() */
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EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const
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{return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
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EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const {
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return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max));
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}
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/** Returns an AlignedBox that is the union of \a b and \c *this.
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* \note Merging with an empty box may result in a box bigger than \c *this.
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* \sa extend(const AlignedBox&) */
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EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
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{ return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
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EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const {
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return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max));
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}
|
||||
|
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/** Translate \c *this by the vector \a t and returns a reference to \c *this. */
|
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template<typename Derived>
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EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
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{
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const typename internal::nested_eval<Derived,2>::type t(a_t.derived());
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template <typename Derived>
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EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t) {
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const typename internal::nested_eval<Derived, 2>::type t(a_t.derived());
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m_min += t;
|
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m_max += t;
|
||||
return *this;
|
||||
}
|
||||
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/** \returns a copy of \c *this translated by the vector \a t. */
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template<typename Derived>
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EIGEN_DEVICE_FUNC inline AlignedBox translated(const MatrixBase<Derived>& a_t) const
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{
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template <typename Derived>
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EIGEN_DEVICE_FUNC inline AlignedBox translated(const MatrixBase<Derived>& a_t) const {
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AlignedBox result(m_min, m_max);
|
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result.translate(a_t);
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return result;
|
||||
}
|
||||
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||||
/** \returns the squared distance between the point \a p and the box \c *this,
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||||
* and zero if \a p is inside the box.
|
||||
* \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
|
||||
*/
|
||||
template<typename Derived>
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* and zero if \a p is inside the box.
|
||||
* \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
|
||||
*/
|
||||
template <typename Derived>
|
||||
EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
|
||||
|
||||
/** \returns the squared distance between the boxes \a b and \c *this,
|
||||
* and zero if the boxes intersect.
|
||||
* \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
|
||||
*/
|
||||
* and zero if the boxes intersect.
|
||||
* \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
|
||||
*/
|
||||
EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
|
||||
|
||||
/** \returns the distance between the point \a p and the box \c *this,
|
||||
* and zero if \a p is inside the box.
|
||||
* \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)
|
||||
*/
|
||||
template<typename Derived>
|
||||
EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
|
||||
{ EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
|
||||
* and zero if \a p is inside the box.
|
||||
* \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)
|
||||
*/
|
||||
template <typename Derived>
|
||||
EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const {
|
||||
EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p)));
|
||||
}
|
||||
|
||||
/** \returns the distance between the boxes \a b and \c *this,
|
||||
* and zero if the boxes intersect.
|
||||
* \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
|
||||
*/
|
||||
EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
|
||||
{ EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
|
||||
* and zero if the boxes intersect.
|
||||
* \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
|
||||
*/
|
||||
EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const {
|
||||
EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b)));
|
||||
}
|
||||
|
||||
/**
|
||||
* Specialization of transform for pure translation.
|
||||
*/
|
||||
template<int Mode, int Options>
|
||||
template <int Mode, int Options>
|
||||
EIGEN_DEVICE_FUNC inline void transform(
|
||||
const typename Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>::TranslationType& translation)
|
||||
{
|
||||
const typename Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>::TranslationType& translation) {
|
||||
this->translate(translation);
|
||||
}
|
||||
|
||||
@@ -338,11 +344,11 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
|
||||
*
|
||||
* \note This method is provided under BSD license (see the top of this file).
|
||||
*/
|
||||
template<int Mode, int Options>
|
||||
EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform)
|
||||
{
|
||||
template <int Mode, int Options>
|
||||
EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) {
|
||||
// Only Affine and Isometry transforms are currently supported.
|
||||
EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
|
||||
EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry,
|
||||
THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
|
||||
|
||||
// Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...)
|
||||
// https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
|
||||
@@ -352,8 +358,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
|
||||
// two times rotated extent
|
||||
const VectorType rotated_extent_2 = transform.linear().cwiseAbs() * sizes();
|
||||
// two times new center
|
||||
const VectorType rotated_center_2 = transform.linear() * (this->m_max + this->m_min) +
|
||||
Scalar(2) * transform.translation();
|
||||
const VectorType rotated_center_2 =
|
||||
transform.linear() * (this->m_max + this->m_min) + Scalar(2) * transform.translation();
|
||||
|
||||
this->m_max = (rotated_center_2 + rotated_extent_2) / Scalar(2);
|
||||
this->m_min = (rotated_center_2 - rotated_extent_2) / Scalar(2);
|
||||
@@ -363,127 +369,117 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_,AmbientDim_)
|
||||
* \returns a copy of \c *this transformed by \a transform and recomputed to
|
||||
* still be an axis-aligned box.
|
||||
*/
|
||||
template<int Mode, int Options>
|
||||
EIGEN_DEVICE_FUNC AlignedBox transformed(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) const
|
||||
{
|
||||
template <int Mode, int Options>
|
||||
EIGEN_DEVICE_FUNC AlignedBox
|
||||
transformed(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) const {
|
||||
AlignedBox result(m_min, m_max);
|
||||
result.transform(transform);
|
||||
return result;
|
||||
}
|
||||
|
||||
/** \returns \c *this with scalar type casted to \a NewScalarType
|
||||
*
|
||||
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
||||
* then this function smartly returns a const reference to \c *this.
|
||||
*/
|
||||
template<typename NewScalarType>
|
||||
EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AlignedBox,
|
||||
AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
|
||||
{
|
||||
return typename internal::cast_return_type<AlignedBox,
|
||||
AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
|
||||
*
|
||||
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
|
||||
* then this function smartly returns a const reference to \c *this.
|
||||
*/
|
||||
template <typename NewScalarType>
|
||||
EIGEN_DEVICE_FUNC inline
|
||||
typename internal::cast_return_type<AlignedBox, AlignedBox<NewScalarType, AmbientDimAtCompileTime> >::type
|
||||
cast() const {
|
||||
return typename internal::cast_return_type<AlignedBox, AlignedBox<NewScalarType, AmbientDimAtCompileTime> >::type(
|
||||
*this);
|
||||
}
|
||||
|
||||
/** Copy constructor with scalar type conversion */
|
||||
template<typename OtherScalarType>
|
||||
EIGEN_DEVICE_FUNC inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
|
||||
{
|
||||
template <typename OtherScalarType>
|
||||
EIGEN_DEVICE_FUNC inline explicit AlignedBox(const AlignedBox<OtherScalarType, AmbientDimAtCompileTime>& other) {
|
||||
m_min = (other.min)().template cast<Scalar>();
|
||||
m_max = (other.max)().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() */
|
||||
EIGEN_DEVICE_FUNC bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
|
||||
{ return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
|
||||
|
||||
protected:
|
||||
* determined by \a prec.
|
||||
*
|
||||
* \sa MatrixBase::isApprox() */
|
||||
EIGEN_DEVICE_FUNC bool isApprox(const AlignedBox& other,
|
||||
const RealScalar& prec = ScalarTraits::dummy_precision()) const {
|
||||
return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec);
|
||||
}
|
||||
|
||||
protected:
|
||||
VectorType m_min, m_max;
|
||||
};
|
||||
|
||||
|
||||
|
||||
template<typename Scalar,int AmbientDim>
|
||||
template<typename Derived>
|
||||
EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
|
||||
{
|
||||
typename internal::nested_eval<Derived,2*AmbientDim>::type p(a_p.derived());
|
||||
template <typename Scalar, int AmbientDim>
|
||||
template <typename Derived>
|
||||
EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar, AmbientDim>::squaredExteriorDistance(
|
||||
const MatrixBase<Derived>& a_p) const {
|
||||
typename internal::nested_eval<Derived, 2 * AmbientDim>::type p(a_p.derived());
|
||||
Scalar dist2(0);
|
||||
Scalar aux;
|
||||
for (Index k=0; k<dim(); ++k)
|
||||
{
|
||||
if( m_min[k] > p[k] )
|
||||
{
|
||||
for (Index k = 0; k < dim(); ++k) {
|
||||
if (m_min[k] > p[k]) {
|
||||
aux = m_min[k] - p[k];
|
||||
dist2 += aux*aux;
|
||||
}
|
||||
else if( p[k] > m_max[k] )
|
||||
{
|
||||
dist2 += aux * aux;
|
||||
} else if (p[k] > m_max[k]) {
|
||||
aux = p[k] - m_max[k];
|
||||
dist2 += aux*aux;
|
||||
dist2 += aux * aux;
|
||||
}
|
||||
}
|
||||
return dist2;
|
||||
}
|
||||
|
||||
template<typename Scalar,int AmbientDim>
|
||||
EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
|
||||
{
|
||||
template <typename Scalar, int AmbientDim>
|
||||
EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar, AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const {
|
||||
Scalar dist2(0);
|
||||
Scalar aux;
|
||||
for (Index k=0; k<dim(); ++k)
|
||||
{
|
||||
if( m_min[k] > b.m_max[k] )
|
||||
{
|
||||
for (Index k = 0; k < dim(); ++k) {
|
||||
if (m_min[k] > b.m_max[k]) {
|
||||
aux = m_min[k] - b.m_max[k];
|
||||
dist2 += aux*aux;
|
||||
}
|
||||
else if( b.m_min[k] > m_max[k] )
|
||||
{
|
||||
dist2 += aux * aux;
|
||||
} else if (b.m_min[k] > m_max[k]) {
|
||||
aux = b.m_min[k] - m_max[k];
|
||||
dist2 += aux*aux;
|
||||
dist2 += aux * aux;
|
||||
}
|
||||
}
|
||||
return dist2;
|
||||
}
|
||||
|
||||
/** \defgroup alignedboxtypedefs Global aligned box typedefs
|
||||
*
|
||||
* \ingroup Geometry_Module
|
||||
*
|
||||
* Eigen defines several typedef shortcuts for most common aligned box types.
|
||||
*
|
||||
* The general patterns are the following:
|
||||
*
|
||||
* \c AlignedBoxSizeType where \c Size can be \c 1, \c 2,\c 3,\c 4 for fixed size boxes or \c X for dynamic size,
|
||||
* and where \c Type can be \c i for integer, \c f for float, \c d for double.
|
||||
*
|
||||
* For example, \c AlignedBox3d is a fixed-size 3x3 aligned box type of doubles, and \c AlignedBoxXf is a dynamic-size aligned box of floats.
|
||||
*
|
||||
* \sa class AlignedBox
|
||||
*/
|
||||
*
|
||||
* \ingroup Geometry_Module
|
||||
*
|
||||
* Eigen defines several typedef shortcuts for most common aligned box types.
|
||||
*
|
||||
* The general patterns are the following:
|
||||
*
|
||||
* \c AlignedBoxSizeType where \c Size can be \c 1, \c 2,\c 3,\c 4 for fixed size boxes or \c X for dynamic size,
|
||||
* and where \c Type can be \c i for integer, \c f for float, \c d for double.
|
||||
*
|
||||
* For example, \c AlignedBox3d is a fixed-size 3x3 aligned box type of doubles, and \c AlignedBoxXf is a dynamic-size
|
||||
* aligned box of floats.
|
||||
*
|
||||
* \sa class AlignedBox
|
||||
*/
|
||||
|
||||
#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
|
||||
/** \ingroup alignedboxtypedefs */ \
|
||||
typedef AlignedBox<Type, Size> AlignedBox##SizeSuffix##TypeSuffix;
|
||||
#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
|
||||
/** \ingroup alignedboxtypedefs */ \
|
||||
typedef AlignedBox<Type, Size> AlignedBox##SizeSuffix##TypeSuffix;
|
||||
|
||||
#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
|
||||
EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
|
||||
|
||||
EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i)
|
||||
EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f)
|
||||
EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d)
|
||||
EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i)
|
||||
EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f)
|
||||
EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d)
|
||||
|
||||
#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
|
||||
#undef EIGEN_MAKE_TYPEDEFS
|
||||
|
||||
} // end namespace Eigen
|
||||
} // end namespace Eigen
|
||||
|
||||
#endif // EIGEN_ALIGNEDBOX_H
|
||||
#endif // EIGEN_ALIGNEDBOX_H
|
||||
|
||||
Reference in New Issue
Block a user