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