1c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This file is part of Eigen, a lightweight C++ template library
2c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// for linear algebra. Eigen itself is part of the KDE project.
3c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//
4c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
5c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath//
6c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This Source Code Form is subject to the terms of the Mozilla
7c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Public License v. 2.0. If a copy of the MPL was not distributed
8c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
10c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathnamespace Eigen {
13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \geometry_module \ingroup Geometry_Module
15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  * \nonstableyet
16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  *
17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  * \class AlignedBox
18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  *
19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  * \brief An axis aligned box
20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  *
21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  * \param _Scalar the type of the scalar coefficients
22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  *
24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  */
26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim>
27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathclass AlignedBox
28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{
29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic:
30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  enum { AmbientDimAtCompileTime = _AmbientDim };
32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  typedef _Scalar Scalar;
33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  typedef typename NumTraits<Scalar>::Real RealScalar;
34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Default constructor initializing a null box. */
37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline explicit AlignedBox()
38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Constructs a null box with \a _dim the dimension of the ambient space. */
41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { setNull(); }
43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Constructs a box with extremities \a _min and \a _max. */
45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Constructs a box containing a single point \a p. */
48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  ~AlignedBox() {}
51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns the dimension in which the box holds */
53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns true if the box is null, i.e, empty. */
56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Makes \c *this a null/empty box. */
59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline void setNull()
60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  {
61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    m_min.setConstant( (std::numeric_limits<Scalar>::max)());
62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  }
64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns the minimal corner */
66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline const VectorType& (min)() const { return m_min; }
67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns a non const reference to the minimal corner */
68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline VectorType& (min)() { return m_min; }
69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns the maximal corner */
70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline const VectorType& (max)() const { return m_max; }
71c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns a non const reference to the maximal corner */
72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline VectorType& (max)() { return m_max; }
73c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
74c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns true if the point \a p is inside the box \c *this. */
75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline bool contains(const VectorType& p) const
76c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
77c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
78c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns true if the box \a b is entirely inside the box \c *this. */
79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline bool contains(const AlignedBox& b) const
80c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
81c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
82c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
83c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline AlignedBox& extend(const VectorType& p)
84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
85c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
87c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline AlignedBox& extend(const AlignedBox& b)
88c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
90c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
91c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline AlignedBox& clamp(const AlignedBox& b)
92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
93c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
94c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline AlignedBox& translate(const VectorType& t)
96c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { m_min += t; m_max += t; return *this; }
97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
98c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns the squared distance between the point \a p and the box \c *this,
99c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * and zero if \a p is inside the box.
100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * \sa exteriorDistance()
101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    */
102c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline Scalar squaredExteriorDistance(const VectorType& p) const;
103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns the distance between the point \a p and the box \c *this,
105c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * and zero if \a p is inside the box.
106c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * \sa squaredExteriorDistance()
107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    */
108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline Scalar exteriorDistance(const VectorType& p) const
109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { return ei_sqrt(squaredExteriorDistance(p)); }
110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns \c *this with scalar type casted to \a NewScalarType
112c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    *
113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * then this function smartly returns a const reference to \c *this.
115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    */
116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  template<typename NewScalarType>
117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline typename internal::cast_return_type<AlignedBox,
118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  {
120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    return typename internal::cast_return_type<AlignedBox,
121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  }
123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** Copy constructor with scalar type conversion */
125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  template<typename OtherScalarType>
126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  {
128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    m_min = (other.min)().template cast<Scalar>();
129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    m_max = (other.max)().template cast<Scalar>();
130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  }
131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * determined by \a prec.
134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    *
135c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    * \sa MatrixBase::isApprox() */
136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathprotected:
140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  VectorType m_min, m_max;
142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath};
143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar,int AmbiantDim>
145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathinline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{
147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  Scalar dist2(0);
148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  Scalar aux;
149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  for (int k=0; k<dim(); ++k)
150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  {
151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    if ((aux = (p[k]-m_min[k]))<Scalar(0))
152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath      dist2 += aux*aux;
153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath    else if ( (aux = (m_max[k]-p[k]))<Scalar(0))
154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath      dist2 += aux*aux;
155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  }
156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath  return dist2;
157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath}
158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath
159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} // end namespace Eigen
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