aboutsummaryrefslogtreecommitdiffhomepage
path: root/Eigen
diff options
context:
space:
mode:
authorGravatar Gael Guennebaud <g.gael@free.fr>2008-10-26 15:04:31 +0000
committerGravatar Gael Guennebaud <g.gael@free.fr>2008-10-26 15:04:31 +0000
commit94f6f2a7de5c06c331fc491eab39b0c9cc0495b9 (patch)
tree6ff684c95eafcf26480f46b9a3e3f738ea36c8ef /Eigen
parentec0a423862d74cea10e2b33f7b37f43957adb465 (diff)
Add an axis aligned box in the geometry module.
Some naming questions: - for "extend" we could also think of: "expand", "union", "add" - same for "clamp": "crop", "intersect" - same for "contains": "isInside", "intersect" => ah "intersect" is conflicting, so that eliminates this one !
Diffstat (limited to 'Eigen')
-rw-r--r--Eigen/Geometry1
-rw-r--r--Eigen/src/Geometry/AlignedBox.h179
-rw-r--r--Eigen/src/Geometry/Hyperplane.h4
-rw-r--r--Eigen/src/Geometry/Scaling.h2
-rw-r--r--Eigen/src/Geometry/Translation.h2
5 files changed, 184 insertions, 4 deletions
diff --git a/Eigen/Geometry b/Eigen/Geometry
index 2a2dfda2b..883c2d769 100644
--- a/Eigen/Geometry
+++ b/Eigen/Geometry
@@ -33,6 +33,7 @@ namespace Eigen {
#include "src/Geometry/Scaling.h"
#include "src/Geometry/Hyperplane.h"
#include "src/Geometry/ParametrizedLine.h"
+#include "src/Geometry/AlignedBox.h"
} // namespace Eigen
diff --git a/Eigen/src/Geometry/AlignedBox.h b/Eigen/src/Geometry/AlignedBox.h
new file mode 100644
index 000000000..a81cc5474
--- /dev/null
+++ b/Eigen/src/Geometry/AlignedBox.h
@@ -0,0 +1,179 @@
+// 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>
+//
+// 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_ALIGNEDBOX_H
+#define EIGEN_ALIGNEDBOX_H
+
+/** \geometry_module \ingroup GeometryModule
+ *
+ * \class AlignedBox
+ *
+ * \brief A box aligned with a axis
+ *
+ * \param _Scalar the type of the scalar coefficients
+ * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+ *
+ * This class represents an axis aligned box as the pair of the minimal and maximal corners.
+ */
+template <typename _Scalar, int _AmbientDim>
+class AlignedBox
+ #ifdef EIGEN_VECTORIZE
+ : public ei_with_aligned_operator_new<_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1>
+ #endif
+{
+public:
+
+ enum { AmbientDimAtCompileTime = _AmbientDim };
+ typedef _Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+
+ /** Default constructor initializing a null box. */
+ inline explicit AlignedBox()
+ { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
+
+ /** Constructs a null box with \a _dim the dimension of the ambient space. */
+ inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
+ { setNull(); }
+
+ /** Constructs a box with extremities \a _min and \a _max. */
+ inline AlignedBox(const VectorType& _min, const VectorType _max) : m_min(_min), m_max(_max) {}
+
+ /** Constructs a box containing a single point \a p. */
+ inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
+
+ ~AlignedBox() {}
+
+ /** \returns the dimension in which the box holds */
+ inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
+
+ /** \returns true if the box is null, i.e, empty. */
+ inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
+
+ /** Makes \c *this a null/empty box. */
+ inline void setNull()
+ {
+ m_min.setConstant( std::numeric_limits<Scalar>::max());
+ m_max.setConstant(-std::numeric_limits<Scalar>::max());
+ }
+
+ /** \returns the minimal corner */
+ inline const VectorType& min() const { return m_min; }
+ /** \returns a non const reference to the minimal corner */
+ inline VectorType& min() { return m_min; }
+ /** \returns the maximal corner */
+ inline const VectorType& max() const { return m_max; }
+ /** \returns a non const reference to the maximal corner */
+ inline VectorType& max() { return m_max; }
+
+ /** \returns true if the point \a p is inside the box \c *this. */
+ inline bool contains(const VectorType& p) const
+ { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
+
+ /** \returns true if the box \a b is entirely inside the box \c *this. */
+ inline bool contains(const AlignedBox& b) const
+ { return (m_min.cwise()<=b.min()).all() && (b.max().cwise()<=m_max).all(); }
+
+ /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
+ inline AlignedBox& extend(const VectorType& p)
+ { m_min = m_min.cwise().min(p); m_max = m_max.cwise().max(p); return *this; }
+
+ /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
+ inline AlignedBox& extend(const AlignedBox& b)
+ { m_min = m_min.cwise().min(b.m_min); m_max = m_max.cwise().max(b.m_max); return *this; }
+
+ /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
+ inline AlignedBox& clamp(const AlignedBox& b)
+ { m_min = m_min.cwise().max(b.m_min); m_max = m_max.cwise().min(b.m_max); return *this; }
+
+ /** \returns the squared distance between the point \a p and the box \c *this,
+ * and zero if \a p is inside the box.
+ * \sa exteriorDistance()
+ */
+ inline Scalar squaredExteriorDistance(const VectorType& p) 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()
+ */
+ inline Scalar exteriorDistance(const VectorType& p) const
+ { return ei_sqrt(squaredExteriorDistance(p)); }
+
+ /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
+ inline AlignedBox& translate(const VectorType& t)
+ {
+ m_min += t;
+ m_max += t;
+ return *this;
+ }
+
+ /** \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>
+ inline typename ei_cast_return_type<AlignedBox,
+ AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
+ {
+ return typename ei_cast_return_type<AlignedBox,
+ AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
+ }
+
+ /** Copy constructor with scalar type conversion */
+ template<typename OtherScalarType>
+ inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
+ {
+ m_min = other.min().template cast<OtherScalarType>();
+ m_max = other.max().template cast<OtherScalarType>();
+ }
+
+ /** \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 AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) 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 AmbiantDim>
+inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
+{
+ Scalar dist2 = 0.;
+ Scalar aux;
+ for (int k=0; k<dim(); ++k)
+ {
+ if ((aux = (p[k]-m_min[k]))<0.)
+ dist2 += aux*aux;
+ else if ( (aux = (m_max[k]-p[k]))<0. )
+ dist2 += aux*aux;
+ }
+ return dist2;
+}
+
+#endif // EIGEN_ALIGNEDBOX_H
diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h
index a45268f07..4edbcece2 100644
--- a/Eigen/src/Geometry/Hyperplane.h
+++ b/Eigen/src/Geometry/Hyperplane.h
@@ -203,7 +203,7 @@ public:
}
}
- /** \returns the transformation of \c *this by the transformation matrix \a mat.
+ /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
*
* \param mat the Dim x Dim transformation matrix
* \param traits specifies whether the matrix \a mat represents an Isometry
@@ -223,7 +223,7 @@ public:
return *this;
}
- /** \returns the transformation of \c *this by the transformation \a t
+ /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
*
* \param t the transformation of dimension Dim
* \param traits specifies whether the transformation \a t represents an Isometry
diff --git a/Eigen/src/Geometry/Scaling.h b/Eigen/src/Geometry/Scaling.h
index 8e98bd58a..54b01d8a0 100644
--- a/Eigen/src/Geometry/Scaling.h
+++ b/Eigen/src/Geometry/Scaling.h
@@ -35,7 +35,7 @@
* \param _Dim the dimension of the space, can be a compile time value or Dynamic
*
* \note This class is not aimed to be used to store a scaling transformation,
- * but rather to make easier the constructions and updates of Transformation object.
+ * but rather to make easier the constructions and updates of Transform objects.
*
* \sa class Translation, class Transform
*/
diff --git a/Eigen/src/Geometry/Translation.h b/Eigen/src/Geometry/Translation.h
index 8dce5dd4c..eec829690 100644
--- a/Eigen/src/Geometry/Translation.h
+++ b/Eigen/src/Geometry/Translation.h
@@ -35,7 +35,7 @@
* \param _Dim the dimension of the space, can be a compile time value or Dynamic
*
* \note This class is not aimed to be used to store a translation transformation,
- * but rather to make easier the constructions and updates of Transformation object.
+ * but rather to make easier the constructions and updates of Transform objects.
*
* \sa class Scaling, class Transform
*/