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Eigne Matrix Class Library

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src/Geometry/AlignedBox.h@0:13a5d365ba16, 2016-10-13 (annotated)

Committer:
ykuroda
Date:
Thu Oct 13 04:07:23 2016 +0000
Revision:
0:13a5d365ba16
First commint, Eigne Matrix Class Library

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ykuroda 0:13a5d365ba16 1 // This file is part of Eigen, a lightweight C++ template library
ykuroda 0:13a5d365ba16 2 // for linear algebra.
ykuroda 0:13a5d365ba16 3 //
ykuroda 0:13a5d365ba16 4 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
ykuroda 0:13a5d365ba16 5 //
ykuroda 0:13a5d365ba16 6 // This Source Code Form is subject to the terms of the Mozilla
ykuroda 0:13a5d365ba16 7 // Public License v. 2.0. If a copy of the MPL was not distributed
ykuroda 0:13a5d365ba16 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
ykuroda 0:13a5d365ba16 9
ykuroda 0:13a5d365ba16 10 #ifndef EIGEN_ALIGNEDBOX_H
ykuroda 0:13a5d365ba16 11 #define EIGEN_ALIGNEDBOX_H
ykuroda 0:13a5d365ba16 12
ykuroda 0:13a5d365ba16 13 namespace Eigen {
ykuroda 0:13a5d365ba16 14
ykuroda 0:13a5d365ba16 15 /** \geometry_module \ingroup Geometry_Module
ykuroda 0:13a5d365ba16 16 *
ykuroda 0:13a5d365ba16 17 *
ykuroda 0:13a5d365ba16 18 * \class AlignedBox
ykuroda 0:13a5d365ba16 19 *
ykuroda 0:13a5d365ba16 20 * \brief An axis aligned box
ykuroda 0:13a5d365ba16 21 *
ykuroda 0:13a5d365ba16 22 * \tparam _Scalar the type of the scalar coefficients
ykuroda 0:13a5d365ba16 23 * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
ykuroda 0:13a5d365ba16 24 *
ykuroda 0:13a5d365ba16 25 * This class represents an axis aligned box as a pair of the minimal and maximal corners.
ykuroda 0:13a5d365ba16 26 * \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using isEmpty().
ykuroda 0:13a5d365ba16 27 * \sa alignedboxtypedefs
ykuroda 0:13a5d365ba16 28 */
ykuroda 0:13a5d365ba16 29 template <typename _Scalar, int _AmbientDim>
ykuroda 0:13a5d365ba16 30 class AlignedBox
ykuroda 0:13a5d365ba16 31 {
ykuroda 0:13a5d365ba16 32 public:
ykuroda 0:13a5d365ba16 33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
ykuroda 0:13a5d365ba16 34 enum { AmbientDimAtCompileTime = _AmbientDim };
ykuroda 0:13a5d365ba16 35 typedef _Scalar Scalar;
ykuroda 0:13a5d365ba16 36 typedef NumTraits<Scalar> ScalarTraits;
ykuroda 0:13a5d365ba16 37 typedef DenseIndex Index;
ykuroda 0:13a5d365ba16 38 typedef typename ScalarTraits::Real RealScalar;
ykuroda 0:13a5d365ba16 39 typedef typename ScalarTraits::NonInteger NonInteger;
ykuroda 0:13a5d365ba16 40 typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
ykuroda 0:13a5d365ba16 41
ykuroda 0:13a5d365ba16 42 /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
ykuroda 0:13a5d365ba16 43 enum CornerType
ykuroda 0:13a5d365ba16 44 {
ykuroda 0:13a5d365ba16 45 /** 1D names @{ */
ykuroda 0:13a5d365ba16 46 Min=0, Max=1,
ykuroda 0:13a5d365ba16 47 /** @} */
ykuroda 0:13a5d365ba16 48
ykuroda 0:13a5d365ba16 49 /** Identifier for 2D corner @{ */
ykuroda 0:13a5d365ba16 50 BottomLeft=0, BottomRight=1,
ykuroda 0:13a5d365ba16 51 TopLeft=2, TopRight=3,
ykuroda 0:13a5d365ba16 52 /** @} */
ykuroda 0:13a5d365ba16 53
ykuroda 0:13a5d365ba16 54 /** Identifier for 3D corner @{ */
ykuroda 0:13a5d365ba16 55 BottomLeftFloor=0, BottomRightFloor=1,
ykuroda 0:13a5d365ba16 56 TopLeftFloor=2, TopRightFloor=3,
ykuroda 0:13a5d365ba16 57 BottomLeftCeil=4, BottomRightCeil=5,
ykuroda 0:13a5d365ba16 58 TopLeftCeil=6, TopRightCeil=7
ykuroda 0:13a5d365ba16 59 /** @} */
ykuroda 0:13a5d365ba16 60 };
ykuroda 0:13a5d365ba16 61
ykuroda 0:13a5d365ba16 62
ykuroda 0:13a5d365ba16 63 /** Default constructor initializing a null box. */
ykuroda 0:13a5d365ba16 64 inline AlignedBox()
ykuroda 0:13a5d365ba16 65 { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
ykuroda 0:13a5d365ba16 66
ykuroda 0:13a5d365ba16 67 /** Constructs a null box with \a _dim the dimension of the ambient space. */
ykuroda 0:13a5d365ba16 68 inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
ykuroda 0:13a5d365ba16 69 { setEmpty(); }
ykuroda 0:13a5d365ba16 70
ykuroda 0:13a5d365ba16 71 /** Constructs a box with extremities \a _min and \a _max.
ykuroda 0:13a5d365ba16 72 * \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */
ykuroda 0:13a5d365ba16 73 template<typename OtherVectorType1, typename OtherVectorType2>
ykuroda 0:13a5d365ba16 74 inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
ykuroda 0:13a5d365ba16 75
ykuroda 0:13a5d365ba16 76 /** Constructs a box containing a single point \a p. */
ykuroda 0:13a5d365ba16 77 template<typename Derived>
ykuroda 0:13a5d365ba16 78 inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
ykuroda 0:13a5d365ba16 79 { }
ykuroda 0:13a5d365ba16 80
ykuroda 0:13a5d365ba16 81 ~AlignedBox() {}
ykuroda 0:13a5d365ba16 82
ykuroda 0:13a5d365ba16 83 /** \returns the dimension in which the box holds */
ykuroda 0:13a5d365ba16 84 inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
ykuroda 0:13a5d365ba16 85
ykuroda 0:13a5d365ba16 86 /** \deprecated use isEmpty() */
ykuroda 0:13a5d365ba16 87 inline bool isNull() const { return isEmpty(); }
ykuroda 0:13a5d365ba16 88
ykuroda 0:13a5d365ba16 89 /** \deprecated use setEmpty() */
ykuroda 0:13a5d365ba16 90 inline void setNull() { setEmpty(); }
ykuroda 0:13a5d365ba16 91
ykuroda 0:13a5d365ba16 92 /** \returns true if the box is empty.
ykuroda 0:13a5d365ba16 93 * \sa setEmpty */
ykuroda 0:13a5d365ba16 94 inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
ykuroda 0:13a5d365ba16 95
ykuroda 0:13a5d365ba16 96 /** Makes \c *this an empty box.
ykuroda 0:13a5d365ba16 97 * \sa isEmpty */
ykuroda 0:13a5d365ba16 98 inline void setEmpty()
ykuroda 0:13a5d365ba16 99 {
ykuroda 0:13a5d365ba16 100 m_min.setConstant( ScalarTraits::highest() );
ykuroda 0:13a5d365ba16 101 m_max.setConstant( ScalarTraits::lowest() );
ykuroda 0:13a5d365ba16 102 }
ykuroda 0:13a5d365ba16 103
ykuroda 0:13a5d365ba16 104 /** \returns the minimal corner */
ykuroda 0:13a5d365ba16 105 inline const VectorType& (min)() const { return m_min; }
ykuroda 0:13a5d365ba16 106 /** \returns a non const reference to the minimal corner */
ykuroda 0:13a5d365ba16 107 inline VectorType& (min)() { return m_min; }
ykuroda 0:13a5d365ba16 108 /** \returns the maximal corner */
ykuroda 0:13a5d365ba16 109 inline const VectorType& (max)() const { return m_max; }
ykuroda 0:13a5d365ba16 110 /** \returns a non const reference to the maximal corner */
ykuroda 0:13a5d365ba16 111 inline VectorType& (max)() { return m_max; }
ykuroda 0:13a5d365ba16 112
ykuroda 0:13a5d365ba16 113 /** \returns the center of the box */
ykuroda 0:13a5d365ba16 114 inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>,
ykuroda 0:13a5d365ba16 115 const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> >
ykuroda 0:13a5d365ba16 116 center() const
ykuroda 0:13a5d365ba16 117 { return (m_min+m_max)/2; }
ykuroda 0:13a5d365ba16 118
ykuroda 0:13a5d365ba16 119 /** \returns the lengths of the sides of the bounding box.
ykuroda 0:13a5d365ba16 120 * Note that this function does not get the same
ykuroda 0:13a5d365ba16 121 * result for integral or floating scalar types: see
ykuroda 0:13a5d365ba16 122 */
ykuroda 0:13a5d365ba16 123 inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const
ykuroda 0:13a5d365ba16 124 { return m_max - m_min; }
ykuroda 0:13a5d365ba16 125
ykuroda 0:13a5d365ba16 126 /** \returns the volume of the bounding box */
ykuroda 0:13a5d365ba16 127 inline Scalar volume() const
ykuroda 0:13a5d365ba16 128 { return sizes().prod(); }
ykuroda 0:13a5d365ba16 129
ykuroda 0:13a5d365ba16 130 /** \returns an expression for the bounding box diagonal vector
ykuroda 0:13a5d365ba16 131 * if the length of the diagonal is needed: diagonal().norm()
ykuroda 0:13a5d365ba16 132 * will provide it.
ykuroda 0:13a5d365ba16 133 */
ykuroda 0:13a5d365ba16 134 inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const
ykuroda 0:13a5d365ba16 135 { return sizes(); }
ykuroda 0:13a5d365ba16 136
ykuroda 0:13a5d365ba16 137 /** \returns the vertex of the bounding box at the corner defined by
ykuroda 0:13a5d365ba16 138 * the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
ykuroda 0:13a5d365ba16 139 * For 1D bounding boxes corners are named by 2 enum constants:
ykuroda 0:13a5d365ba16 140 * BottomLeft and BottomRight.
ykuroda 0:13a5d365ba16 141 * For 2D bounding boxes, corners are named by 4 enum constants:
ykuroda 0:13a5d365ba16 142 * BottomLeft, BottomRight, TopLeft, TopRight.
ykuroda 0:13a5d365ba16 143 * For 3D bounding boxes, the following names are added:
ykuroda 0:13a5d365ba16 144 * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
ykuroda 0:13a5d365ba16 145 */
ykuroda 0:13a5d365ba16 146 inline VectorType corner(CornerType corner) const
ykuroda 0:13a5d365ba16 147 {
ykuroda 0:13a5d365ba16 148 EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
ykuroda 0:13a5d365ba16 149
ykuroda 0:13a5d365ba16 150 VectorType res;
ykuroda 0:13a5d365ba16 151
ykuroda 0:13a5d365ba16 152 Index mult = 1;
ykuroda 0:13a5d365ba16 153 for(Index d=0; d<dim(); ++d)
ykuroda 0:13a5d365ba16 154 {
ykuroda 0:13a5d365ba16 155 if( mult & corner ) res[d] = m_max[d];
ykuroda 0:13a5d365ba16 156 else res[d] = m_min[d];
ykuroda 0:13a5d365ba16 157 mult *= 2;
ykuroda 0:13a5d365ba16 158 }
ykuroda 0:13a5d365ba16 159 return res;
ykuroda 0:13a5d365ba16 160 }
ykuroda 0:13a5d365ba16 161
ykuroda 0:13a5d365ba16 162 /** \returns a random point inside the bounding box sampled with
ykuroda 0:13a5d365ba16 163 * a uniform distribution */
ykuroda 0:13a5d365ba16 164 inline VectorType sample() const
ykuroda 0:13a5d365ba16 165 {
ykuroda 0:13a5d365ba16 166 VectorType r(dim());
ykuroda 0:13a5d365ba16 167 for(Index d=0; d<dim(); ++d)
ykuroda 0:13a5d365ba16 168 {
ykuroda 0:13a5d365ba16 169 if(!ScalarTraits::IsInteger)
ykuroda 0:13a5d365ba16 170 {
ykuroda 0:13a5d365ba16 171 r[d] = m_min[d] + (m_max[d]-m_min[d])
ykuroda 0:13a5d365ba16 172 * internal::random<Scalar>(Scalar(0), Scalar(1));
ykuroda 0:13a5d365ba16 173 }
ykuroda 0:13a5d365ba16 174 else
ykuroda 0:13a5d365ba16 175 r[d] = internal::random(m_min[d], m_max[d]);
ykuroda 0:13a5d365ba16 176 }
ykuroda 0:13a5d365ba16 177 return r;
ykuroda 0:13a5d365ba16 178 }
ykuroda 0:13a5d365ba16 179
ykuroda 0:13a5d365ba16 180 /** \returns true if the point \a p is inside the box \c *this. */
ykuroda 0:13a5d365ba16 181 template<typename Derived>
ykuroda 0:13a5d365ba16 182 inline bool contains(const MatrixBase<Derived>& p) const
ykuroda 0:13a5d365ba16 183 {
ykuroda 0:13a5d365ba16 184 typename internal::nested<Derived,2>::type p_n(p.derived());
ykuroda 0:13a5d365ba16 185 return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
ykuroda 0:13a5d365ba16 186 }
ykuroda 0:13a5d365ba16 187
ykuroda 0:13a5d365ba16 188 /** \returns true if the box \a b is entirely inside the box \c *this. */
ykuroda 0:13a5d365ba16 189 inline bool contains(const AlignedBox& b) const
ykuroda 0:13a5d365ba16 190 { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
ykuroda 0:13a5d365ba16 191
ykuroda 0:13a5d365ba16 192 /** \returns true if the box \a b is intersecting the box \c *this.
ykuroda 0:13a5d365ba16 193 * \sa intersection, clamp */
ykuroda 0:13a5d365ba16 194 inline bool intersects(const AlignedBox& b) const
ykuroda 0:13a5d365ba16 195 { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
ykuroda 0:13a5d365ba16 196
ykuroda 0:13a5d365ba16 197 /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
ykuroda 0:13a5d365ba16 198 * \sa extend(const AlignedBox&) */
ykuroda 0:13a5d365ba16 199 template<typename Derived>
ykuroda 0:13a5d365ba16 200 inline AlignedBox& extend(const MatrixBase<Derived>& p)
ykuroda 0:13a5d365ba16 201 {
ykuroda 0:13a5d365ba16 202 typename internal::nested<Derived,2>::type p_n(p.derived());
ykuroda 0:13a5d365ba16 203 m_min = m_min.cwiseMin(p_n);
ykuroda 0:13a5d365ba16 204 m_max = m_max.cwiseMax(p_n);
ykuroda 0:13a5d365ba16 205 return *this;
ykuroda 0:13a5d365ba16 206 }
ykuroda 0:13a5d365ba16 207
ykuroda 0:13a5d365ba16 208 /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
ykuroda 0:13a5d365ba16 209 * \sa merged, extend(const MatrixBase&) */
ykuroda 0:13a5d365ba16 210 inline AlignedBox& extend(const AlignedBox& b)
ykuroda 0:13a5d365ba16 211 {
ykuroda 0:13a5d365ba16 212 m_min = m_min.cwiseMin(b.m_min);
ykuroda 0:13a5d365ba16 213 m_max = m_max.cwiseMax(b.m_max);
ykuroda 0:13a5d365ba16 214 return *this;
ykuroda 0:13a5d365ba16 215 }
ykuroda 0:13a5d365ba16 216
ykuroda 0:13a5d365ba16 217 /** Clamps \c *this by the box \a b and returns a reference to \c *this.
ykuroda 0:13a5d365ba16 218 * \note If the boxes don't intersect, the resulting box is empty.
ykuroda 0:13a5d365ba16 219 * \sa intersection(), intersects() */
ykuroda 0:13a5d365ba16 220 inline AlignedBox& clamp(const AlignedBox& b)
ykuroda 0:13a5d365ba16 221 {
ykuroda 0:13a5d365ba16 222 m_min = m_min.cwiseMax(b.m_min);
ykuroda 0:13a5d365ba16 223 m_max = m_max.cwiseMin(b.m_max);
ykuroda 0:13a5d365ba16 224 return *this;
ykuroda 0:13a5d365ba16 225 }
ykuroda 0:13a5d365ba16 226
ykuroda 0:13a5d365ba16 227 /** Returns an AlignedBox that is the intersection of \a b and \c *this
ykuroda 0:13a5d365ba16 228 * \note If the boxes don't intersect, the resulting box is empty.
ykuroda 0:13a5d365ba16 229 * \sa intersects(), clamp, contains() */
ykuroda 0:13a5d365ba16 230 inline AlignedBox intersection(const AlignedBox& b) const
ykuroda 0:13a5d365ba16 231 {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
ykuroda 0:13a5d365ba16 232
ykuroda 0:13a5d365ba16 233 /** Returns an AlignedBox that is the union of \a b and \c *this.
ykuroda 0:13a5d365ba16 234 * \note Merging with an empty box may result in a box bigger than \c *this.
ykuroda 0:13a5d365ba16 235 * \sa extend(const AlignedBox&) */
ykuroda 0:13a5d365ba16 236 inline AlignedBox merged(const AlignedBox& b) const
ykuroda 0:13a5d365ba16 237 { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
ykuroda 0:13a5d365ba16 238
ykuroda 0:13a5d365ba16 239 /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
ykuroda 0:13a5d365ba16 240 template<typename Derived>
ykuroda 0:13a5d365ba16 241 inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
ykuroda 0:13a5d365ba16 242 {
ykuroda 0:13a5d365ba16 243 const typename internal::nested<Derived,2>::type t(a_t.derived());
ykuroda 0:13a5d365ba16 244 m_min += t;
ykuroda 0:13a5d365ba16 245 m_max += t;
ykuroda 0:13a5d365ba16 246 return *this;
ykuroda 0:13a5d365ba16 247 }
ykuroda 0:13a5d365ba16 248
ykuroda 0:13a5d365ba16 249 /** \returns the squared distance between the point \a p and the box \c *this,
ykuroda 0:13a5d365ba16 250 * and zero if \a p is inside the box.
ykuroda 0:13a5d365ba16 251 * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
ykuroda 0:13a5d365ba16 252 */
ykuroda 0:13a5d365ba16 253 template<typename Derived>
ykuroda 0:13a5d365ba16 254 inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
ykuroda 0:13a5d365ba16 255
ykuroda 0:13a5d365ba16 256 /** \returns the squared distance between the boxes \a b and \c *this,
ykuroda 0:13a5d365ba16 257 * and zero if the boxes intersect.
ykuroda 0:13a5d365ba16 258 * \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
ykuroda 0:13a5d365ba16 259 */
ykuroda 0:13a5d365ba16 260 inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
ykuroda 0:13a5d365ba16 261
ykuroda 0:13a5d365ba16 262 /** \returns the distance between the point \a p and the box \c *this,
ykuroda 0:13a5d365ba16 263 * and zero if \a p is inside the box.
ykuroda 0:13a5d365ba16 264 * \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)
ykuroda 0:13a5d365ba16 265 */
ykuroda 0:13a5d365ba16 266 template<typename Derived>
ykuroda 0:13a5d365ba16 267 inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
ykuroda 0:13a5d365ba16 268 { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(p))); }
ykuroda 0:13a5d365ba16 269
ykuroda 0:13a5d365ba16 270 /** \returns the distance between the boxes \a b and \c *this,
ykuroda 0:13a5d365ba16 271 * and zero if the boxes intersect.
ykuroda 0:13a5d365ba16 272 * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
ykuroda 0:13a5d365ba16 273 */
ykuroda 0:13a5d365ba16 274 inline NonInteger exteriorDistance(const AlignedBox& b) const
ykuroda 0:13a5d365ba16 275 { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(b))); }
ykuroda 0:13a5d365ba16 276
ykuroda 0:13a5d365ba16 277 /** \returns \c *this with scalar type casted to \a NewScalarType
ykuroda 0:13a5d365ba16 278 *
ykuroda 0:13a5d365ba16 279 * Note that if \a NewScalarType is equal to the current scalar type of \c *this
ykuroda 0:13a5d365ba16 280 * then this function smartly returns a const reference to \c *this.
ykuroda 0:13a5d365ba16 281 */
ykuroda 0:13a5d365ba16 282 template<typename NewScalarType>
ykuroda 0:13a5d365ba16 283 inline typename internal::cast_return_type<AlignedBox,
ykuroda 0:13a5d365ba16 284 AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
ykuroda 0:13a5d365ba16 285 {
ykuroda 0:13a5d365ba16 286 return typename internal::cast_return_type<AlignedBox,
ykuroda 0:13a5d365ba16 287 AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
ykuroda 0:13a5d365ba16 288 }
ykuroda 0:13a5d365ba16 289
ykuroda 0:13a5d365ba16 290 /** Copy constructor with scalar type conversion */
ykuroda 0:13a5d365ba16 291 template<typename OtherScalarType>
ykuroda 0:13a5d365ba16 292 inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
ykuroda 0:13a5d365ba16 293 {
ykuroda 0:13a5d365ba16 294 m_min = (other.min)().template cast<Scalar>();
ykuroda 0:13a5d365ba16 295 m_max = (other.max)().template cast<Scalar>();
ykuroda 0:13a5d365ba16 296 }
ykuroda 0:13a5d365ba16 297
ykuroda 0:13a5d365ba16 298 /** \returns \c true if \c *this is approximately equal to \a other, within the precision
ykuroda 0:13a5d365ba16 299 * determined by \a prec.
ykuroda 0:13a5d365ba16 300 *
ykuroda 0:13a5d365ba16 301 * \sa MatrixBase::isApprox() */
ykuroda 0:13a5d365ba16 302 bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
ykuroda 0:13a5d365ba16 303 { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
ykuroda 0:13a5d365ba16 304
ykuroda 0:13a5d365ba16 305 protected:
ykuroda 0:13a5d365ba16 306
ykuroda 0:13a5d365ba16 307 VectorType m_min, m_max;
ykuroda 0:13a5d365ba16 308 };
ykuroda 0:13a5d365ba16 309
ykuroda 0:13a5d365ba16 310
ykuroda 0:13a5d365ba16 311
ykuroda 0:13a5d365ba16 312 template<typename Scalar,int AmbientDim>
ykuroda 0:13a5d365ba16 313 template<typename Derived>
ykuroda 0:13a5d365ba16 314 inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
ykuroda 0:13a5d365ba16 315 {
ykuroda 0:13a5d365ba16 316 typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived());
ykuroda 0:13a5d365ba16 317 Scalar dist2(0);
ykuroda 0:13a5d365ba16 318 Scalar aux;
ykuroda 0:13a5d365ba16 319 for (Index k=0; k<dim(); ++k)
ykuroda 0:13a5d365ba16 320 {
ykuroda 0:13a5d365ba16 321 if( m_min[k] > p[k] )
ykuroda 0:13a5d365ba16 322 {
ykuroda 0:13a5d365ba16 323 aux = m_min[k] - p[k];
ykuroda 0:13a5d365ba16 324 dist2 += aux*aux;
ykuroda 0:13a5d365ba16 325 }
ykuroda 0:13a5d365ba16 326 else if( p[k] > m_max[k] )
ykuroda 0:13a5d365ba16 327 {
ykuroda 0:13a5d365ba16 328 aux = p[k] - m_max[k];
ykuroda 0:13a5d365ba16 329 dist2 += aux*aux;
ykuroda 0:13a5d365ba16 330 }
ykuroda 0:13a5d365ba16 331 }
ykuroda 0:13a5d365ba16 332 return dist2;
ykuroda 0:13a5d365ba16 333 }
ykuroda 0:13a5d365ba16 334
ykuroda 0:13a5d365ba16 335 template<typename Scalar,int AmbientDim>
ykuroda 0:13a5d365ba16 336 inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
ykuroda 0:13a5d365ba16 337 {
ykuroda 0:13a5d365ba16 338 Scalar dist2(0);
ykuroda 0:13a5d365ba16 339 Scalar aux;
ykuroda 0:13a5d365ba16 340 for (Index k=0; k<dim(); ++k)
ykuroda 0:13a5d365ba16 341 {
ykuroda 0:13a5d365ba16 342 if( m_min[k] > b.m_max[k] )
ykuroda 0:13a5d365ba16 343 {
ykuroda 0:13a5d365ba16 344 aux = m_min[k] - b.m_max[k];
ykuroda 0:13a5d365ba16 345 dist2 += aux*aux;
ykuroda 0:13a5d365ba16 346 }
ykuroda 0:13a5d365ba16 347 else if( b.m_min[k] > m_max[k] )
ykuroda 0:13a5d365ba16 348 {
ykuroda 0:13a5d365ba16 349 aux = b.m_min[k] - m_max[k];
ykuroda 0:13a5d365ba16 350 dist2 += aux*aux;
ykuroda 0:13a5d365ba16 351 }
ykuroda 0:13a5d365ba16 352 }
ykuroda 0:13a5d365ba16 353 return dist2;
ykuroda 0:13a5d365ba16 354 }
ykuroda 0:13a5d365ba16 355
ykuroda 0:13a5d365ba16 356 /** \defgroup alignedboxtypedefs Global aligned box typedefs
ykuroda 0:13a5d365ba16 357 *
ykuroda 0:13a5d365ba16 358 * \ingroup Geometry_Module
ykuroda 0:13a5d365ba16 359 *
ykuroda 0:13a5d365ba16 360 * Eigen defines several typedef shortcuts for most common aligned box types.
ykuroda 0:13a5d365ba16 361 *
ykuroda 0:13a5d365ba16 362 * The general patterns are the following:
ykuroda 0:13a5d365ba16 363 *
ykuroda 0:13a5d365ba16 364 * \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,
ykuroda 0:13a5d365ba16 365 * and where \c Type can be \c i for integer, \c f for float, \c d for double.
ykuroda 0:13a5d365ba16 366 *
ykuroda 0:13a5d365ba16 367 * 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.
ykuroda 0:13a5d365ba16 368 *
ykuroda 0:13a5d365ba16 369 * \sa class AlignedBox
ykuroda 0:13a5d365ba16 370 */
ykuroda 0:13a5d365ba16 371
ykuroda 0:13a5d365ba16 372 #define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
ykuroda 0:13a5d365ba16 373 /** \ingroup alignedboxtypedefs */ \
ykuroda 0:13a5d365ba16 374 typedef AlignedBox<Type, Size> AlignedBox##SizeSuffix##TypeSuffix;
ykuroda 0:13a5d365ba16 375
ykuroda 0:13a5d365ba16 376 #define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
ykuroda 0:13a5d365ba16 377 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
ykuroda 0:13a5d365ba16 378 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
ykuroda 0:13a5d365ba16 379 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
ykuroda 0:13a5d365ba16 380 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
ykuroda 0:13a5d365ba16 381 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
ykuroda 0:13a5d365ba16 382
ykuroda 0:13a5d365ba16 383 EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i)
ykuroda 0:13a5d365ba16 384 EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f)
ykuroda 0:13a5d365ba16 385 EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d)
ykuroda 0:13a5d365ba16 386
ykuroda 0:13a5d365ba16 387 #undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
ykuroda 0:13a5d365ba16 388 #undef EIGEN_MAKE_TYPEDEFS
ykuroda 0:13a5d365ba16 389
ykuroda 0:13a5d365ba16 390 } // end namespace Eigen
ykuroda 0:13a5d365ba16 391
ykuroda 0:13a5d365ba16 392 #endif // EIGEN_ALIGNEDBOX_H