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Diffstat (limited to 'third_party/eigen3/Eigen/src/Geometry/AlignedBox.h')
| -rw-r--r-- | third_party/eigen3/Eigen/src/Geometry/AlignedBox.h | 379 |
1 files changed, 0 insertions, 379 deletions
diff --git a/third_party/eigen3/Eigen/src/Geometry/AlignedBox.h b/third_party/eigen3/Eigen/src/Geometry/AlignedBox.h deleted file mode 100644 index b6a2f0e24c..0000000000 --- a/third_party/eigen3/Eigen/src/Geometry/AlignedBox.h +++ /dev/null @@ -1,379 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_ALIGNEDBOX_H -#define EIGEN_ALIGNEDBOX_H - -namespace Eigen { - -/** \geometry_module \ingroup Geometry_Module - * - * - * \class AlignedBox - * - * \brief An axis aligned box - * - * \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 a pair of the minimal and maximal corners. - */ -template <typename _Scalar, int _AmbientDim> -class AlignedBox -{ -public: -EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) - enum { AmbientDimAtCompileTime = _AmbientDim }; - typedef _Scalar Scalar; - typedef NumTraits<Scalar> ScalarTraits; - typedef DenseIndex Index; - typedef typename ScalarTraits::Real RealScalar; - typedef typename ScalarTraits::NonInteger NonInteger; - typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType; - - /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */ - enum CornerType - { - /** 1D names */ - Min=0, Max=1, - - /** Added names for 2D */ - BottomLeft=0, BottomRight=1, - TopLeft=2, TopRight=3, - - /** Added names for 3D */ - BottomLeftFloor=0, BottomRightFloor=1, - TopLeftFloor=2, TopRightFloor=3, - BottomLeftCeil=4, BottomRightCeil=5, - TopLeftCeil=6, TopRightCeil=7 - }; - - - /** Default constructor initializing a null box. */ - inline AlignedBox() - { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); } - - /** Constructs a null box with \a _dim the dimension of the ambient space. */ - inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim) - { setEmpty(); } - - /** Constructs a box with extremities \a _min and \a _max. */ - template<typename OtherVectorType1, typename OtherVectorType2> - inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {} - - /** Constructs a box containing a single point \a p. */ - template<typename Derived> - inline explicit AlignedBox(const MatrixBase<Derived>& a_p) - { - typename internal::nested<Derived,2>::type p(a_p.derived()); - m_min = p; - m_max = p; - } - - ~AlignedBox() {} - - /** \returns the dimension in which the box holds */ - inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); } - - /** \deprecated use isEmpty */ - inline bool isNull() const { return isEmpty(); } - - /** \deprecated use setEmpty */ - inline void setNull() { setEmpty(); } - - /** \returns true if the box is empty. */ - inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); } - - /** Makes \c *this an empty box. */ - inline void setEmpty() - { - m_min.setConstant( ScalarTraits::highest() ); - m_max.setConstant( ScalarTraits::lowest() ); - } - - /** \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 the center of the box */ - inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, - const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> > - center() const - { return (m_min+m_max)/2; } - - /** \returns the lengths of the sides of the bounding box. - * Note that this function does not get the same - * result for integral or floating scalar types: see - */ - inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const - { return m_max - m_min; } - - /** \returns the volume of the bounding box */ - inline Scalar volume() const - { return sizes().prod(); } - - /** \returns an expression for the bounding box diagonal vector - * if the length of the diagonal is needed: diagonal().norm() - * will provide it. - */ - inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const - { return sizes(); } - - /** \returns the vertex of the bounding box at the corner defined by - * the corner-id corner. It works only for a 1D, 2D or 3D bounding box. - * For 1D bounding boxes corners are named by 2 enum constants: - * BottomLeft and BottomRight. - * For 2D bounding boxes, corners are named by 4 enum constants: - * BottomLeft, BottomRight, TopLeft, TopRight. - * For 3D bounding boxes, the following names are added: - * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil. - */ - inline VectorType corner(CornerType corner) const - { - EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE); - - VectorType res; - - Index mult = 1; - for(Index d=0; d<dim(); ++d) - { - if( mult & corner ) res[d] = m_max[d]; - else res[d] = m_min[d]; - mult *= 2; - } - return res; - } - - /** \returns a random point inside the bounding box sampled with - * a uniform distribution */ - inline VectorType sample() const - { - VectorType r; - for(Index d=0; d<dim(); ++d) - { - if(!ScalarTraits::IsInteger) - { - r[d] = m_min[d] + (m_max[d]-m_min[d]) - * internal::random<Scalar>(Scalar(0), Scalar(1)); - } - else - r[d] = internal::random(m_min[d], m_max[d]); - } - return r; - } - - /** \returns true if the point \a p is inside the box \c *this. */ - template<typename Derived> - inline bool contains(const MatrixBase<Derived>& a_p) const - { - typename internal::nested<Derived,2>::type p(a_p.derived()); - return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).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.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); } - - /** \returns true if the box \a b is intersecting the box \c *this. */ - inline bool intersects(const AlignedBox& b) const - { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); } - - /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */ - template<typename Derived> - inline AlignedBox& extend(const MatrixBase<Derived>& a_p) - { - typename internal::nested<Derived,2>::type p(a_p.derived()); - m_min = m_min.cwiseMin(p); - m_max = m_max.cwiseMax(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.cwiseMin(b.m_min); - m_max = m_max.cwiseMax(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.cwiseMax(b.m_min); - m_max = m_max.cwiseMin(b.m_max); - return *this; - } - - /** Returns an AlignedBox that is the intersection of \a b and \c *this */ - inline AlignedBox intersection(const AlignedBox& b) const - {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); } - - /** Returns an AlignedBox that is the union of \a b and \c *this */ - inline AlignedBox merged(const AlignedBox& b) const - { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); } - - /** Translate \c *this by the vector \a t and returns a reference to \c *this. */ - template<typename Derived> - inline AlignedBox& translate(const MatrixBase<Derived>& a_t) - { - const typename internal::nested<Derived,2>::type t(a_t.derived()); - m_min += t; - m_max += t; - 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() - */ - template<typename Derived> - inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& a_p) const; - - /** \returns the squared distance between the boxes \a b and \c *this, - * and zero if the boxes intersect. - * \sa exteriorDistance() - */ - 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() - */ - template<typename Derived> - inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const - { 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() - */ - inline NonInteger exteriorDistance(const AlignedBox& b) const - { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(b))); } - - /** \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 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> - 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() */ - 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> -inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const -{ - typename internal::nested<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] ) - { - aux = m_min[k] - p[k]; - dist2 += aux*aux; - } - else if( p[k] > m_max[k] ) - { - aux = p[k] - m_max[k]; - dist2 += aux*aux; - } - } - return dist2; -} - -template<typename Scalar,int AmbientDim> -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] ) - { - aux = m_min[k] - b.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; - } - } - 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 - */ - -#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_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 - -#endif // EIGEN_ALIGNEDBOX_H |