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|
| | #ifndef EIGEN_ALIGNEDBOX_H |
| | #define EIGEN_ALIGNEDBOX_H |
| |
|
| | namespace Eigen { |
| |
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| | |
| | 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 Eigen::Index Index; |
| | typedef typename ScalarTraits::Real RealScalar; |
| | typedef typename ScalarTraits::NonInteger NonInteger; |
| | typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType; |
| | typedef CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> VectorTypeSum; |
| |
|
| | |
| | enum CornerType |
| | { |
| | |
| | Min=0, Max=1, |
| | |
| |
|
| | |
| | BottomLeft=0, BottomRight=1, |
| | TopLeft=2, TopRight=3, |
| | |
| |
|
| | |
| | BottomLeftFloor=0, BottomRightFloor=1, |
| | TopLeftFloor=2, TopRightFloor=3, |
| | BottomLeftCeil=4, BottomRightCeil=5, |
| | TopLeftCeil=6, TopRightCeil=7 |
| | |
| | }; |
| |
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| |
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| | |
| | EIGEN_DEVICE_FUNC inline AlignedBox() |
| | { if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=Dynamic)) setEmpty(); } |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim) |
| | { setEmpty(); } |
| |
|
| | |
| | |
| | template<typename OtherVectorType1, typename OtherVectorType2> |
| | EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {} |
| |
|
| | |
| | template<typename Derived> |
| | EIGEN_DEVICE_FUNC inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min) |
| | { } |
| |
|
| | EIGEN_DEVICE_FUNC ~AlignedBox() {} |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); } |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline bool isNull() const { return isEmpty(); } |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline void setNull() { setEmpty(); } |
| |
|
| | |
| | |
| | EIGEN_DEVICE_FUNC inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); } |
| |
|
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| | |
| | EIGEN_DEVICE_FUNC inline void setEmpty() |
| | { |
| | m_min.setConstant( ScalarTraits::highest() ); |
| | m_max.setConstant( ScalarTraits::lowest() ); |
| | } |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline const VectorType& (min)() const { return m_min; } |
| | |
| | EIGEN_DEVICE_FUNC inline VectorType& (min)() { return m_min; } |
| | |
| | EIGEN_DEVICE_FUNC inline const VectorType& (max)() const { return m_max; } |
| | |
| | EIGEN_DEVICE_FUNC inline VectorType& (max)() { return m_max; } |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient) |
| | center() const |
| | { return (m_min+m_max)/RealScalar(2); } |
| |
|
| | |
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> sizes() const |
| | { return m_max - m_min; } |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline Scalar volume() const |
| | { return sizes().prod(); } |
| |
|
| | |
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC inline CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> diagonal() const |
| | { return sizes(); } |
| |
|
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| | |
| | |
| | EIGEN_DEVICE_FUNC 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; |
| | } |
| |
|
| | |
| | |
| | EIGEN_DEVICE_FUNC inline VectorType sample() const |
| | { |
| | VectorType r(dim()); |
| | 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; |
| | } |
| |
|
| | |
| | template<typename Derived> |
| | EIGEN_DEVICE_FUNC inline bool contains(const MatrixBase<Derived>& p) const |
| | { |
| | typename internal::nested_eval<Derived,2>::type p_n(p.derived()); |
| | return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all(); |
| | } |
| |
|
| | |
| | EIGEN_DEVICE_FUNC inline bool contains(const AlignedBox& b) const |
| | { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); } |
| |
|
| | |
| | |
| | EIGEN_DEVICE_FUNC inline bool intersects(const AlignedBox& b) const |
| | { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); } |
| |
|
| | |
| | |
| | template<typename Derived> |
| | EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p) |
| | { |
| | typename internal::nested_eval<Derived,2>::type p_n(p.derived()); |
| | m_min = m_min.cwiseMin(p_n); |
| | m_max = m_max.cwiseMax(p_n); |
| | return *this; |
| | } |
| |
|
| | |
| | |
| | EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b) |
| | { |
| | m_min = m_min.cwiseMin(b.m_min); |
| | m_max = m_max.cwiseMax(b.m_max); |
| | return *this; |
| | } |
| |
|
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b) |
| | { |
| | m_min = m_min.cwiseMax(b.m_min); |
| | m_max = m_max.cwiseMin(b.m_max); |
| | return *this; |
| | } |
| |
|
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const |
| | {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); } |
| |
|
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const |
| | { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); } |
| |
|
| | |
| | template<typename Derived> |
| | EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t) |
| | { |
| | const typename internal::nested_eval<Derived,2>::type t(a_t.derived()); |
| | m_min += t; |
| | m_max += t; |
| | return *this; |
| | } |
| |
|
| | |
| | template<typename Derived> |
| | EIGEN_DEVICE_FUNC inline AlignedBox translated(const MatrixBase<Derived>& a_t) const |
| | { |
| | AlignedBox result(m_min, m_max); |
| | result.translate(a_t); |
| | return result; |
| | } |
| |
|
| | |
| | |
| | |
| | |
| | template<typename Derived> |
| | EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const; |
| |
|
| | |
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const AlignedBox& b) const; |
| |
|
| | |
| | |
| | |
| | |
| | template<typename Derived> |
| | EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const |
| | { EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); } |
| |
|
| | |
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const |
| | { EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); } |
| |
|
| | |
| | |
| | |
| | template<int Mode, int Options> |
| | EIGEN_DEVICE_FUNC inline void transform( |
| | const typename Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>::TranslationType& translation) |
| | { |
| | this->translate(translation); |
| | } |
| |
|
| | |
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| | |
| | |
| | |
| | |
| | template<int Mode, int Options> |
| | EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) |
| | { |
| | |
| | EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS); |
| |
|
| | |
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| | |
| | |
| |
|
| | |
| | const VectorType rotated_extent_2 = transform.linear().cwiseAbs() * sizes(); |
| | |
| | const VectorType rotated_center_2 = transform.linear() * (this->m_max + this->m_min) + |
| | Scalar(2) * transform.translation(); |
| |
|
| | this->m_max = (rotated_center_2 + rotated_extent_2) / Scalar(2); |
| | this->m_min = (rotated_center_2 - rotated_extent_2) / Scalar(2); |
| | } |
| |
|
| | |
| | |
| | |
| | |
| | template<int Mode, int Options> |
| | EIGEN_DEVICE_FUNC AlignedBox transformed(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) const |
| | { |
| | AlignedBox result(m_min, m_max); |
| | result.transform(transform); |
| | return result; |
| | } |
| |
|
| | |
| | |
| | |
| | |
| | |
| | template<typename NewScalarType> |
| | EIGEN_DEVICE_FUNC 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); |
| | } |
| |
|
| | |
| | template<typename OtherScalarType> |
| | EIGEN_DEVICE_FUNC inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other) |
| | { |
| | m_min = (other.min)().template cast<Scalar>(); |
| | m_max = (other.max)().template cast<Scalar>(); |
| | } |
| |
|
| | |
| | |
| | |
| | |
| | EIGEN_DEVICE_FUNC 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> |
| | EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const |
| | { |
| | typename internal::nested_eval<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> |
| | EIGEN_DEVICE_FUNC 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; |
| | } |
| |
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|
| | #define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ |
| | \ |
| | 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 |
| |
|
| | } |
| |
|
| | #endif |
| |
|