diff options
author | Gael Guennebaud <g.gael@free.fr> | 2008-10-25 00:08:52 +0000 |
---|---|---|
committer | Gael Guennebaud <g.gael@free.fr> | 2008-10-25 00:08:52 +0000 |
commit | 0c5a09d93f3efe85b7666b0f45a43abb48def18c (patch) | |
tree | 9bafd09ba38964394c2428e47c6faabbf1faa7de /Eigen/src/Geometry/Hyperplane.h | |
parent | 8ea8b481de07169706343f35f928eac845b706fe (diff) |
some cleaning and doc in ParametrizedLine and HyperPlane
Just a thought: what about ParamLine instead of the verbose ParametrizedLine ?
Diffstat (limited to 'Eigen/src/Geometry/Hyperplane.h')
-rw-r--r-- | Eigen/src/Geometry/Hyperplane.h | 49 |
1 files changed, 37 insertions, 12 deletions
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h index e099d10ce..d78b18a84 100644 --- a/Eigen/src/Geometry/Hyperplane.h +++ b/Eigen/src/Geometry/Hyperplane.h @@ -61,8 +61,12 @@ class Hyperplane typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType; /** Default constructor without initialization */ - inline explicit Hyperplane(int _dim = AmbientDimAtCompileTime) : m_coeffs(_dim+1) {} - + inline explicit Hyperplane() {} + + /** Constructs a dynamic-size hyperplane with \a _dim the dimension + * of the ambient space */ + inline explicit Hyperplane(int _dim) : 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. */ @@ -72,8 +76,9 @@ class Hyperplane normal() = n; offset() = -e.dot(n); } - - /** Constructs a plane from its normal \a n and distance to the origin \a d. + + /** Constructs a plane from its normal \a n and distance to the origin \a d + * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$. * \warning the vector normal is assumed to be normalized. */ inline Hyperplane(const VectorType& n, Scalar d) @@ -106,31 +111,38 @@ class Hyperplane return result; } - Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized) + /** Constructs a hyperplane passing through the parametrized line \a parametrized. + * If the dimension of the ambient space is greater than 2, then there isn't uniqueness, + * so an arbitrary choice is made. + */ + // FIXME to be consitent with the rest this could be implemented as a static Through function ?? + explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized) { normal() = parametrized.direction().unitOrthogonal(); offset() = -normal().dot(parametrized.origin()); } - + ~Hyperplane() {} /** \returns the dimension in which the plane holds */ inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : AmbientDimAtCompileTime; } - + /** normalizes \c *this */ void normalize(void) { m_coeffs /= normal().norm(); } - + /** \returns the signed distance between the plane \c *this and a point \a p. + * \sa absDistance() */ inline Scalar signedDistance(const VectorType& p) const { return p.dot(normal()) + offset(); } /** \returns the absolute distance between the plane \c *this and a point \a p. + * \sa signedDistance() */ inline Scalar absDistance(const VectorType& p) const { return ei_abs(signedDistance(p)); } - + /** \returns the projection of a point \a p onto the plane \c *this. */ inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); } @@ -153,7 +165,7 @@ class Hyperplane /** \returns a non-constant reference to the distance to the origin, which is also the constant part * of the implicit equation */ inline Scalar& offset() { return m_coeffs(dim()); } - + /** \returns a constant reference to the coefficients c_i of the plane equation: * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$ */ @@ -166,7 +178,7 @@ class Hyperplane /** \returns the intersection of *this with \a other. * - * \warning The ambient space must be a plane, i.e. have dimension 2, so that *this and \a other are lines. + * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines. * * \note If \a other is approximately parallel to *this, this method will return any point on *this. */ @@ -190,7 +202,13 @@ class Hyperplane invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2))); } } - + + /** \returns the transformation of \c *this by the transformation matrix \a mat. + * + * \param mat the Dim x Dim transformation matrix + * \param traits specifies whether the matrix \a mat represents an Isometry + * or a more generic Affine transformation. The default is Affine. + */ template<typename XprType> inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine) { @@ -205,6 +223,13 @@ class Hyperplane return *this; } + /** \returns the transformation of \c *this by the transformation \a t + * + * \param t the transformation of dimension Dim + * \param traits specifies whether the transformation \a t represents an Isometry + * or a more generic Affine transformation. The default is Affine. + * Other kind of transformations are not supported. + */ inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t, TransformTraits traits = Affine) { |