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// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com> 6c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 7c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This Source Code Form is subject to the terms of the Mozilla 8c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Public License v. 2.0. If a copy of the MPL was not distributed 9c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#ifndef EIGEN_PARAMETRIZEDLINE_H 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#define EIGEN_PARAMETRIZEDLINE_H 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathnamespace Eigen { 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \geometry_module \ingroup Geometry_Module 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \class ParametrizedLine 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \brief A parametrized line 21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ t \in \mathbf{R} \f$. 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 262b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang * \tparam _Scalar the scalar type, i.e., the type of the coefficients 272b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim, int _Options> 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathclass ParametrizedLine 31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathpublic: 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath enum { 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AmbientDimAtCompileTime = _AmbientDim, 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Options = _Options 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath }; 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef _Scalar Scalar; 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef typename NumTraits<Scalar>::Real RealScalar; 402b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3 41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType; 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Default constructor without initialization */ 442b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline ParametrizedLine() {} 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<int OtherOptions> 472b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other) 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath : m_origin(other.origin()), m_direction(other.direction()) 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath {} 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs a dynamic-size line with \a _dim the dimension 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * of the ambient space */ 532b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {} 54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Initializes a parametrized line of direction \a direction and origin \a origin. 56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \warning the vector direction is assumed to be normalized. 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 582b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC ParametrizedLine(const VectorType& origin, const VectorType& direction) 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath : m_origin(origin), m_direction(direction) {} 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template <int OtherOptions> 622b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane); 63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Constructs a parametrized line going from \a p0 to \a p1. */ 652b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1) 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return ParametrizedLine(p0, (p1-p0).normalized()); } 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 682b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC ~ParametrizedLine() {} 69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the dimension in which the line holds */ 712b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline Index dim() const { return m_direction.size(); } 72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 732b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC const VectorType& origin() const { return m_origin; } 742b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC VectorType& origin() { return m_origin; } 75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 762b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC const VectorType& direction() const { return m_direction; } 772b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC VectorType& direction() { return m_direction; } 78c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the squared distance of a point \a p to its projection onto the line \c *this. 80c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa distance() 81c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 822b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const 83c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType diff = p - origin(); 85c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return (diff - direction().dot(diff) * direction()).squaredNorm(); 86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 87c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the distance of a point \a p to its projection onto the line \c *this. 88c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa squaredDistance() 89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 902b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); } 91c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns the projection of a point \a p onto the line \c *this. */ 932b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const 94c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return origin() + direction().dot(p-origin()) * direction(); } 95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 962b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC VectorType pointAt(const Scalar& t) const; 97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 98c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template <int OtherOptions> 992b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; 100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template <int OtherOptions> 1022b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; 103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template <int OtherOptions> 1052b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; 106c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c *this with scalar type casted to \a NewScalarType 108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * Note that if \a NewScalarType is equal to the current scalar type of \c *this 110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * then this function smartly returns a const reference to \c *this. 111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 112c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename NewScalarType> 1132b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<ParametrizedLine, 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const 115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return typename internal::cast_return_type<ParametrizedLine, 117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this); 118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** Copy constructor with scalar type conversion */ 121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath template<typename OtherScalarType,int OtherOptions> 1222b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other) 123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_origin = other.origin().template cast<Scalar>(); 125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m_direction = other.direction().template cast<Scalar>(); 126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /** \returns \c true if \c *this is approximately equal to \a other, within the precision 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * determined by \a prec. 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \sa MatrixBase::isApprox() */ 1322b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao Wang EIGEN_DEVICE_FUNC bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const 133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); } 134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 135c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathprotected: 136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VectorType m_origin, m_direction; 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath}; 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** Constructs a parametrized line from a 2D hyperplane 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * 142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim, int _Options> 145c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <int OtherOptions> 1462b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_DEVICE_FUNC inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane) 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2) 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath direction() = hyperplane.normal().unitOrthogonal(); 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath origin() = -hyperplane.normal()*hyperplane.offset(); 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \returns the point at \a t along this line 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim, int _Options> 1562b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType 1577faaa9f3f0df9d23790277834d426c3d992ac3baCarlos HernandezParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return origin() + (direction()*t); 160c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \returns the parameter value of the intersection between \c *this and the given \a hyperplane 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim, int _Options> 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <int OtherOptions> 1662b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const 167c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 168c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return -(hyperplane.offset()+hyperplane.normal().dot(origin())) 169c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath / hyperplane.normal().dot(direction()); 170c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 171c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 172c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 173c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \deprecated use intersectionParameter() 174c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * \returns the parameter value of the intersection between \c *this and the given \a hyperplane 175c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 176c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim, int _Options> 177c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <int OtherOptions> 1782b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const 179c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 180c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return intersectionParameter(hyperplane); 181c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 182c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 183c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath/** \returns the point of the intersection between \c *this and the given hyperplane 184c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 185c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <typename _Scalar, int _AmbientDim, int _Options> 186c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate <int OtherOptions> 1872b8756b6f1de65d3f8bffab45be6c44ceb7411fcMiao WangEIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType 188c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan KamathParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const 189c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 190c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath return pointAt(intersectionParameter(hyperplane)); 191c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 192c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 193c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} // end namespace Eigen 194c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 195c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#endif // EIGEN_PARAMETRIZEDLINE_H 196