1c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This file is part of Eigen, a lightweight C++ template library 2c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// for linear algebra. 3c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 4c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.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#ifndef EIGEN_ALIGNEDBOX_H 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define EIGEN_ALIGNEDBOX_H 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathnamespace Eigen { 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \geometry_module \ingroup Geometry_Module 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \class AlignedBox 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \brief An axis aligned box 21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \param _Scalar the type of the scalar coefficients 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * This class represents an axis aligned box as a pair of the minimal and maximal corners. 26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim> 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathclass AlignedBox 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath enum { AmbientDimAtCompileTime = _AmbientDim }; 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef _Scalar Scalar; 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef NumTraits<Scalar> ScalarTraits; 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef DenseIndex Index; 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef typename ScalarTraits::Real RealScalar; 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef typename ScalarTraits::NonInteger NonInteger; 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType; 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */ 41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath enum CornerType 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** 1D names */ 44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Min=0, Max=1, 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Added names for 2D */ 47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath BottomLeft=0, BottomRight=1, 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TopLeft=2, TopRight=3, 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Added names for 3D */ 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath BottomLeftFloor=0, BottomRightFloor=1, 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TopLeftFloor=2, TopRightFloor=3, 53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath BottomLeftCeil=4, BottomRightCeil=5, 54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath TopLeftCeil=6, TopRightCeil=7 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath }; 56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Default constructor initializing a null box. */ 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline explicit AlignedBox() 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); } 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs a null box with \a _dim the dimension of the ambient space. */ 63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim) 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { setEmpty(); } 65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs a box with extremities \a _min and \a _max. */ 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherVectorType1, typename OtherVectorType2> 68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {} 69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs a box containing a single point \a p. */ 71c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline explicit AlignedBox(const MatrixBase<Derived>& a_p) 73c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 74c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const typename internal::nested<Derived,2>::type p(a_p.derived()); 75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_min = p; 76c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_max = p; 77c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 78c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath ~AlignedBox() {} 80c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 81c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the dimension in which the box holds */ 82c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : Index(AmbientDimAtCompileTime); } 83c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \deprecated use isEmpty */ 85c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline bool isNull() const { return isEmpty(); } 86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 87c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \deprecated use setEmpty */ 88c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline void setNull() { setEmpty(); } 89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 90c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns true if the box is empty. */ 91c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); } 92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 93c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Makes \c *this an empty box. */ 94c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline void setEmpty() 95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 96c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_min.setConstant( ScalarTraits::highest() ); 97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_max.setConstant( ScalarTraits::lowest() ); 98c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 99c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the minimal corner */ 101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline const VectorType& (min)() const { return m_min; } 102c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns a non const reference to the minimal corner */ 103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline VectorType& (min)() { return m_min; } 104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the maximal corner */ 105c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline const VectorType& (max)() const { return m_max; } 106c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns a non const reference to the maximal corner */ 107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline VectorType& (max)() { return m_max; } 108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the center of the box */ 110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, 111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> > 112c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath center() const 113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return (m_min+m_max)/2; } 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the lengths of the sides of the bounding box. 116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * Note that this function does not get the same 117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * result for integral or floating scalar types: see 118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return m_max - m_min; } 121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the volume of the bounding box */ 123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scalar volume() const 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return sizes().prod(); } 125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns an expression for the bounding box diagonal vector 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * if the length of the diagonal is needed: diagonal().norm() 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * will provide it. 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const 131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return sizes(); } 132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the vertex of the bounding box at the corner defined by 134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * the corner-id corner. It works only for a 1D, 2D or 3D bounding box. 135c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * For 1D bounding boxes corners are named by 2 enum constants: 136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * BottomLeft and BottomRight. 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * For 2D bounding boxes, corners are named by 4 enum constants: 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * BottomLeft, BottomRight, TopLeft, TopRight. 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * For 3D bounding boxes, the following names are added: 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil. 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline VectorType corner(CornerType corner) const 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE); 145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType res; 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Index mult = 1; 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for(Index d=0; d<dim(); ++d) 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if( mult & corner ) res[d] = m_max[d]; 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else res[d] = m_min[d]; 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath mult *= 2; 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return res; 156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns a random point inside the bounding box sampled with 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * a uniform distribution */ 160c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline VectorType sample() const 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType r; 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for(Index d=0; d<dim(); ++d) 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(!ScalarTraits::IsInteger) 166c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 167c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath r[d] = m_min[d] + (m_max[d]-m_min[d]) 168c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * internal::random<Scalar>(Scalar(0), Scalar(1)); 169c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 170c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else 171c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath r[d] = internal::random(m_min[d], m_max[d]); 172c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 173c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return r; 174c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 175c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 176c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns true if the point \a p is inside the box \c *this. */ 177c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 178c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline bool contains(const MatrixBase<Derived>& a_p) const 179c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 180c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typename internal::nested<Derived,2>::type p(a_p.derived()); 181c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).all(); 182c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 183c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 184c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns true if the box \a b is entirely inside the box \c *this. */ 185c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline bool contains(const AlignedBox& b) const 186c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); } 187c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 188c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */ 189c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 190c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline AlignedBox& extend(const MatrixBase<Derived>& a_p) 191c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 192c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typename internal::nested<Derived,2>::type p(a_p.derived()); 193c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_min = m_min.cwiseMin(p); 194c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_max = m_max.cwiseMax(p); 195c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return *this; 196c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 197c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 198c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */ 199c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline AlignedBox& extend(const AlignedBox& b) 200c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 201c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_min = m_min.cwiseMin(b.m_min); 202c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_max = m_max.cwiseMax(b.m_max); 203c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return *this; 204c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 205c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 206c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Clamps \c *this by the box \a b and returns a reference to \c *this. */ 207c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline AlignedBox& clamp(const AlignedBox& b) 208c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 209c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_min = m_min.cwiseMax(b.m_min); 210c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_max = m_max.cwiseMin(b.m_max); 211c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return *this; 212c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 213c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 214c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Returns an AlignedBox that is the intersection of \a b and \c *this */ 215c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline AlignedBox intersection(const AlignedBox& b) const 216c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); } 217c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 218c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Returns an AlignedBox that is the union of \a b and \c *this */ 219c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline AlignedBox merged(const AlignedBox& b) const 220c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); } 221c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 222c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Translate \c *this by the vector \a t and returns a reference to \c *this. */ 223c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 224c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline AlignedBox& translate(const MatrixBase<Derived>& a_t) 225c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 226c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const typename internal::nested<Derived,2>::type t(a_t.derived()); 227c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_min += t; 228c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_max += t; 229c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return *this; 230c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 231c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 232c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the squared distance between the point \a p and the box \c *this, 233c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * and zero if \a p is inside the box. 234c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa exteriorDistance() 235c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 236c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 237c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& a_p) const; 238c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 239c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the squared distance between the boxes \a b and \c *this, 240c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * and zero if the boxes intersect. 241c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa exteriorDistance() 242c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 243c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline Scalar squaredExteriorDistance(const AlignedBox& b) const; 244c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 245c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the distance between the point \a p and the box \c *this, 246c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * and zero if \a p is inside the box. 247c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa squaredExteriorDistance() 248c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 249c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename Derived> 250c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const 251c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return internal::sqrt(NonInteger(squaredExteriorDistance(p))); } 252c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 253c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the distance between the boxes \a b and \c *this, 254c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * and zero if the boxes intersect. 255c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa squaredExteriorDistance() 256c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 257c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline NonInteger exteriorDistance(const AlignedBox& b) const 258c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return internal::sqrt(NonInteger(squaredExteriorDistance(b))); } 259c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 260c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c *this with scalar type casted to \a NewScalarType 261c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 262c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * Note that if \a NewScalarType is equal to the current scalar type of \c *this 263c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * then this function smartly returns a const reference to \c *this. 264c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 265c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename NewScalarType> 266c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline typename internal::cast_return_type<AlignedBox, 267c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const 268c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 269c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return typename internal::cast_return_type<AlignedBox, 270c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this); 271c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 272c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 273c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Copy constructor with scalar type conversion */ 274c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherScalarType> 275c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other) 276c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 277c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_min = (other.min)().template cast<Scalar>(); 278c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_max = (other.max)().template cast<Scalar>(); 279c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 280c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 281c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c true if \c *this is approximately equal to \a other, within the precision 282c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * determined by \a prec. 283c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 284c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa MatrixBase::isApprox() */ 285c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath bool isApprox(const AlignedBox& other, RealScalar prec = ScalarTraits::dummy_precision()) const 286c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); } 287c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 288c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathprotected: 289c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 290c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType m_min, m_max; 291c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath}; 292c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 293c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 294c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 295c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar,int AmbientDim> 296c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Derived> 297c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathinline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const 298c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 299c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath const typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived()); 300c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar dist2(0); 301c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar aux; 302c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for (Index k=0; k<dim(); ++k) 303c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 304c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if( m_min[k] > p[k] ) 305c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 306c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath aux = m_min[k] - p[k]; 307c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath dist2 += aux*aux; 308c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 309c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else if( p[k] > m_max[k] ) 310c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 311c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath aux = p[k] - m_max[k]; 312c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath dist2 += aux*aux; 313c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 314c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 315c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return dist2; 316c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 317c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 318c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar,int AmbientDim> 319c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathinline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const 320c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 321c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar dist2(0); 322c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar aux; 323c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for (Index k=0; k<dim(); ++k) 324c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 325c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if( m_min[k] > b.m_max[k] ) 326c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 327c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath aux = m_min[k] - b.m_max[k]; 328c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath dist2 += aux*aux; 329c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 330c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath else if( b.m_min[k] > m_max[k] ) 331c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 332c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath aux = b.m_min[k] - m_max[k]; 333c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath dist2 += aux*aux; 334c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 335c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 336c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return dist2; 337c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 338c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 339c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \defgroup alignedboxtypedefs Global aligned box typedefs 340c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 341c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \ingroup Geometry_Module 342c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 343c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * Eigen defines several typedef shortcuts for most common aligned box types. 344c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 345c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * The general patterns are the following: 346c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 347c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \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, 348c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * and where \c Type can be \c i for integer, \c f for float, \c d for double. 349c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 350c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 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. 351c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 352c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa class AlignedBox 353c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 354c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 355c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \ 356c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \ingroup alignedboxtypedefs */ \ 357c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtypedef AlignedBox<Type, Size> AlignedBox##SizeSuffix##TypeSuffix; 358c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 359c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \ 360c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \ 361c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \ 362c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \ 363c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \ 364c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) 365c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 366c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i) 367c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f) 368c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathEIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) 369c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 370c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES 371c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#undef EIGEN_MAKE_TYPEDEFS 372c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 373c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} // end namespace Eigen 374c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 375c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#endif // EIGEN_ALIGNEDBOX_H 376