393 lines
14 KiB
C
393 lines
14 KiB
C
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#ifndef EIGEN_ALIGNEDBOX_H
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#define EIGEN_ALIGNEDBOX_H
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namespace Eigen {
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/** \geometry_module \ingroup Geometry_Module
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*
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*
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* \class AlignedBox
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*
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* \brief An axis aligned box
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*
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* \tparam _Scalar the type of the scalar coefficients
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* \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
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*
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* This class represents an axis aligned box as a pair of the minimal and maximal corners.
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* \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using isEmpty().
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* \sa alignedboxtypedefs
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*/
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template <typename _Scalar, int _AmbientDim>
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class AlignedBox
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
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enum { AmbientDimAtCompileTime = _AmbientDim };
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typedef _Scalar Scalar;
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typedef NumTraits<Scalar> ScalarTraits;
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typedef DenseIndex Index;
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typedef typename ScalarTraits::Real RealScalar;
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typedef typename ScalarTraits::NonInteger NonInteger;
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typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
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/** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
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enum CornerType
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{
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/** 1D names @{ */
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Min=0, Max=1,
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/** @} */
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/** Identifier for 2D corner @{ */
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BottomLeft=0, BottomRight=1,
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TopLeft=2, TopRight=3,
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/** @} */
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/** Identifier for 3D corner @{ */
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BottomLeftFloor=0, BottomRightFloor=1,
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TopLeftFloor=2, TopRightFloor=3,
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BottomLeftCeil=4, BottomRightCeil=5,
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TopLeftCeil=6, TopRightCeil=7
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/** @} */
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};
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/** Default constructor initializing a null box. */
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inline AlignedBox()
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{ if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
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/** Constructs a null box with \a _dim the dimension of the ambient space. */
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inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
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{ setEmpty(); }
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/** Constructs a box with extremities \a _min and \a _max.
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* \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */
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template<typename OtherVectorType1, typename OtherVectorType2>
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inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
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/** Constructs a box containing a single point \a p. */
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template<typename Derived>
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inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
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{ }
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~AlignedBox() {}
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/** \returns the dimension in which the box holds */
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inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
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/** \deprecated use isEmpty() */
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inline bool isNull() const { return isEmpty(); }
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/** \deprecated use setEmpty() */
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inline void setNull() { setEmpty(); }
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/** \returns true if the box is empty.
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* \sa setEmpty */
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inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
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/** Makes \c *this an empty box.
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* \sa isEmpty */
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inline void setEmpty()
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{
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m_min.setConstant( ScalarTraits::highest() );
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m_max.setConstant( ScalarTraits::lowest() );
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}
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/** \returns the minimal corner */
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inline const VectorType& (min)() const { return m_min; }
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/** \returns a non const reference to the minimal corner */
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inline VectorType& (min)() { return m_min; }
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/** \returns the maximal corner */
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inline const VectorType& (max)() const { return m_max; }
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/** \returns a non const reference to the maximal corner */
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inline VectorType& (max)() { return m_max; }
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/** \returns the center of the box */
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inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>,
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const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> >
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center() const
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{ return (m_min+m_max)/2; }
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/** \returns the lengths of the sides of the bounding box.
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* Note that this function does not get the same
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* result for integral or floating scalar types: see
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*/
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inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const
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{ return m_max - m_min; }
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/** \returns the volume of the bounding box */
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inline Scalar volume() const
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{ return sizes().prod(); }
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/** \returns an expression for the bounding box diagonal vector
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* if the length of the diagonal is needed: diagonal().norm()
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* will provide it.
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*/
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inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const
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{ return sizes(); }
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/** \returns the vertex of the bounding box at the corner defined by
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* the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
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* For 1D bounding boxes corners are named by 2 enum constants:
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* BottomLeft and BottomRight.
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* For 2D bounding boxes, corners are named by 4 enum constants:
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* BottomLeft, BottomRight, TopLeft, TopRight.
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* For 3D bounding boxes, the following names are added:
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* BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
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*/
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inline VectorType corner(CornerType corner) const
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{
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EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
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VectorType res;
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Index mult = 1;
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for(Index d=0; d<dim(); ++d)
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{
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if( mult & corner ) res[d] = m_max[d];
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else res[d] = m_min[d];
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mult *= 2;
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}
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return res;
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}
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/** \returns a random point inside the bounding box sampled with
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* a uniform distribution */
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inline VectorType sample() const
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{
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VectorType r(dim());
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for(Index d=0; d<dim(); ++d)
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{
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if(!ScalarTraits::IsInteger)
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{
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r[d] = m_min[d] + (m_max[d]-m_min[d])
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* internal::random<Scalar>(Scalar(0), Scalar(1));
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}
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else
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r[d] = internal::random(m_min[d], m_max[d]);
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}
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return r;
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}
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/** \returns true if the point \a p is inside the box \c *this. */
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template<typename Derived>
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inline bool contains(const MatrixBase<Derived>& p) const
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{
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typename internal::nested<Derived,2>::type p_n(p.derived());
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return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
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}
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/** \returns true if the box \a b is entirely inside the box \c *this. */
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inline bool contains(const AlignedBox& b) const
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{ return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
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/** \returns true if the box \a b is intersecting the box \c *this.
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* \sa intersection, clamp */
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inline bool intersects(const AlignedBox& b) const
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{ return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
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/** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
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* \sa extend(const AlignedBox&) */
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template<typename Derived>
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inline AlignedBox& extend(const MatrixBase<Derived>& p)
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{
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typename internal::nested<Derived,2>::type p_n(p.derived());
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m_min = m_min.cwiseMin(p_n);
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m_max = m_max.cwiseMax(p_n);
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return *this;
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}
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/** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
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* \sa merged, extend(const MatrixBase&) */
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inline AlignedBox& extend(const AlignedBox& b)
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{
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m_min = m_min.cwiseMin(b.m_min);
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m_max = m_max.cwiseMax(b.m_max);
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return *this;
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}
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/** Clamps \c *this by the box \a b and returns a reference to \c *this.
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* \note If the boxes don't intersect, the resulting box is empty.
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* \sa intersection(), intersects() */
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inline AlignedBox& clamp(const AlignedBox& b)
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{
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m_min = m_min.cwiseMax(b.m_min);
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m_max = m_max.cwiseMin(b.m_max);
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return *this;
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}
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/** Returns an AlignedBox that is the intersection of \a b and \c *this
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* \note If the boxes don't intersect, the resulting box is empty.
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* \sa intersects(), clamp, contains() */
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inline AlignedBox intersection(const AlignedBox& b) const
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{return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
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/** Returns an AlignedBox that is the union of \a b and \c *this.
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* \note Merging with an empty box may result in a box bigger than \c *this.
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* \sa extend(const AlignedBox&) */
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inline AlignedBox merged(const AlignedBox& b) const
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{ return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
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/** Translate \c *this by the vector \a t and returns a reference to \c *this. */
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template<typename Derived>
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inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
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{
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const typename internal::nested<Derived,2>::type t(a_t.derived());
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m_min += t;
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m_max += t;
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return *this;
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}
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/** \returns the squared distance between the point \a p and the box \c *this,
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* and zero if \a p is inside the box.
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* \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
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*/
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template<typename Derived>
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inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
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/** \returns the squared distance between the boxes \a b and \c *this,
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* and zero if the boxes intersect.
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* \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
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*/
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inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
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/** \returns the distance between the point \a p and the box \c *this,
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* and zero if \a p is inside the box.
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* \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)
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*/
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template<typename Derived>
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inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
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{ using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(p))); }
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/** \returns the distance between the boxes \a b and \c *this,
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* and zero if the boxes intersect.
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* \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
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*/
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inline NonInteger exteriorDistance(const AlignedBox& b) const
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{ using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(b))); }
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/** \returns \c *this with scalar type casted to \a NewScalarType
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*
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* Note that if \a NewScalarType is equal to the current scalar type of \c *this
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* then this function smartly returns a const reference to \c *this.
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*/
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template<typename NewScalarType>
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inline typename internal::cast_return_type<AlignedBox,
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AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
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{
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return typename internal::cast_return_type<AlignedBox,
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AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
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}
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/** Copy constructor with scalar type conversion */
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template<typename OtherScalarType>
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inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
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{
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m_min = (other.min)().template cast<Scalar>();
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m_max = (other.max)().template cast<Scalar>();
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}
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/** \returns \c true if \c *this is approximately equal to \a other, within the precision
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* determined by \a prec.
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*
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* \sa MatrixBase::isApprox() */
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bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
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{ return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
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protected:
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VectorType m_min, m_max;
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};
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template<typename Scalar,int AmbientDim>
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template<typename Derived>
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inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
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{
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typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived());
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Scalar dist2(0);
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Scalar aux;
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for (Index k=0; k<dim(); ++k)
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{
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if( m_min[k] > p[k] )
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{
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aux = m_min[k] - p[k];
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dist2 += aux*aux;
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}
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else if( p[k] > m_max[k] )
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{
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aux = p[k] - m_max[k];
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dist2 += aux*aux;
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}
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}
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return dist2;
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}
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template<typename Scalar,int AmbientDim>
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inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
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{
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Scalar dist2(0);
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Scalar aux;
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for (Index k=0; k<dim(); ++k)
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{
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if( m_min[k] > b.m_max[k] )
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{
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aux = m_min[k] - b.m_max[k];
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dist2 += aux*aux;
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}
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else if( b.m_min[k] > m_max[k] )
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{
|
||
|
|
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
|