1 | // This file is part of Eigen, a lightweight C++ template library
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2 | // for linear algebra.
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3 | //
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4 | // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
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5 | //
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6 | // This Source Code Form is subject to the terms of the Mozilla
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7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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9 |
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10 | // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
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11 |
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12 | namespace Eigen {
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13 |
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14 | /** \geometry_module \ingroup Geometry_Module
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15 | * \nonstableyet
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16 | *
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17 | * \class AlignedBox
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18 | *
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19 | * \brief An axis aligned box
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20 | *
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21 | * \param _Scalar the type of the scalar coefficients
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22 | * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
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23 | *
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24 | * This class represents an axis aligned box as a pair of the minimal and maximal corners.
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25 | */
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26 | template <typename _Scalar, int _AmbientDim>
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27 | class AlignedBox
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28 | {
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29 | public:
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30 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
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31 | enum { AmbientDimAtCompileTime = _AmbientDim };
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32 | typedef _Scalar Scalar;
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33 | typedef typename NumTraits<Scalar>::Real RealScalar;
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34 | typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
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35 |
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36 | /** Default constructor initializing a null box. */
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37 | inline AlignedBox()
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38 | { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
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39 |
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40 | /** Constructs a null box with \a _dim the dimension of the ambient space. */
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41 | inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
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42 | { setNull(); }
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43 |
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44 | /** Constructs a box with extremities \a _min and \a _max. */
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45 | inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
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46 |
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47 | /** Constructs a box containing a single point \a p. */
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48 | inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
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49 |
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50 | ~AlignedBox() {}
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51 |
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52 | /** \returns the dimension in which the box holds */
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53 | inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
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54 |
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55 | /** \returns true if the box is null, i.e, empty. */
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56 | inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
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57 |
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58 | /** Makes \c *this a null/empty box. */
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59 | inline void setNull()
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60 | {
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61 | m_min.setConstant( (std::numeric_limits<Scalar>::max)());
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62 | m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
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63 | }
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64 |
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65 | /** \returns the minimal corner */
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66 | inline const VectorType& (min)() const { return m_min; }
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67 | /** \returns a non const reference to the minimal corner */
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68 | inline VectorType& (min)() { return m_min; }
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69 | /** \returns the maximal corner */
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70 | inline const VectorType& (max)() const { return m_max; }
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71 | /** \returns a non const reference to the maximal corner */
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72 | inline VectorType& (max)() { return m_max; }
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73 |
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74 | /** \returns true if the point \a p is inside the box \c *this. */
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75 | inline bool contains(const VectorType& p) const
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76 | { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
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77 |
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78 | /** \returns true if the box \a b is entirely inside the box \c *this. */
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79 | inline bool contains(const AlignedBox& b) const
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80 | { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
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81 |
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82 | /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
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83 | inline AlignedBox& extend(const VectorType& p)
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84 | { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
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85 |
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86 | /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
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87 | inline AlignedBox& extend(const AlignedBox& b)
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88 | { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
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89 |
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90 | /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
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91 | inline AlignedBox& clamp(const AlignedBox& b)
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92 | { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
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93 |
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94 | /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
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95 | inline AlignedBox& translate(const VectorType& t)
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96 | { m_min += t; m_max += t; return *this; }
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97 |
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98 | /** \returns the squared distance between the point \a p and the box \c *this,
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99 | * and zero if \a p is inside the box.
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100 | * \sa exteriorDistance()
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101 | */
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102 | inline Scalar squaredExteriorDistance(const VectorType& p) const;
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103 |
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104 | /** \returns the distance between the point \a p and the box \c *this,
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105 | * and zero if \a p is inside the box.
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106 | * \sa squaredExteriorDistance()
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107 | */
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108 | inline Scalar exteriorDistance(const VectorType& p) const
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109 | { return ei_sqrt(squaredExteriorDistance(p)); }
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110 |
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111 | /** \returns \c *this with scalar type casted to \a NewScalarType
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112 | *
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113 | * Note that if \a NewScalarType is equal to the current scalar type of \c *this
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114 | * then this function smartly returns a const reference to \c *this.
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115 | */
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116 | template<typename NewScalarType>
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117 | inline typename internal::cast_return_type<AlignedBox,
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118 | AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
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119 | {
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120 | return typename internal::cast_return_type<AlignedBox,
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121 | AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
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122 | }
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123 |
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124 | /** Copy constructor with scalar type conversion */
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125 | template<typename OtherScalarType>
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126 | inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
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127 | {
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128 | m_min = (other.min)().template cast<Scalar>();
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129 | m_max = (other.max)().template cast<Scalar>();
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130 | }
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131 |
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132 | /** \returns \c true if \c *this is approximately equal to \a other, within the precision
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133 | * determined by \a prec.
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134 | *
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135 | * \sa MatrixBase::isApprox() */
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136 | bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
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137 | { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
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138 |
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139 | protected:
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140 |
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141 | VectorType m_min, m_max;
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142 | };
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143 |
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144 | template<typename Scalar,int AmbiantDim>
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145 | inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
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146 | {
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147 | Scalar dist2(0);
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148 | Scalar aux;
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149 | for (int k=0; k<dim(); ++k)
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150 | {
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151 | if ((aux = (p[k]-m_min[k]))<Scalar(0))
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152 | dist2 += aux*aux;
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153 | else if ( (aux = (m_max[k]-p[k]))<Scalar(0))
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154 | dist2 += aux*aux;
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155 | }
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156 | return dist2;
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157 | }
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158 |
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159 | } // end namespace Eigen
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