// This file is part of Eigen, a lightweight C++ template library // for linear algebra. // // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
// Function void Eigen::AlignedBox::transform(const Transform& transform) // is provided under the following license agreement: // // Software License Agreement (BSD License) // // Copyright (c) 2011-2014, Willow Garage, Inc. // Copyright (c) 2014-2015, Open Source Robotics Foundation // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // * Redistributions in binary form must reproduce the above // copyright notice, this list of conditions and the following // disclaimer in the documentation and/or other materials provided // with the distribution. // * Neither the name of Open Source Robotics Foundation nor the names of its // contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE // COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE // POSSIBILITY OF SUCH DAMAGE.
/** \geometry_module \ingroup Geometry_Module * * * \class AlignedBox * * \brief An axis aligned box * * \tparam _Scalar the type of the scalar coefficients * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. * * This class represents an axis aligned box as a pair of the minimal and maximal corners. * \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using isEmpty(). * \sa alignedboxtypedefs
*/ template <typename _Scalar, int _AmbientDim> class AlignedBox
{ public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) enum { AmbientDimAtCompileTime = _AmbientDim }; typedef _Scalar Scalar; typedef NumTraits<Scalar> ScalarTraits; typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3 typedeftypename ScalarTraits::Real RealScalar; typedeftypename ScalarTraits::NonInteger NonInteger; typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType; typedef CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> VectorTypeSum;
/** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */ enum CornerType
{ /** 1D names @{ */
Min=0, Max=1, /** @} */
/** Identifier for 3D corner @{ */
BottomLeftFloor=0, BottomRightFloor=1,
TopLeftFloor=2, TopRightFloor=3,
BottomLeftCeil=4, BottomRightCeil=5,
TopLeftCeil=6, TopRightCeil=7 /** @} */
};
/** Default constructor initializing a null box. */
EIGEN_DEVICE_FUNC inline AlignedBox()
{ if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=Dynamic)) setEmpty(); }
/** Constructs a null box with \a _dim the dimension of the ambient space. */
EIGEN_DEVICE_FUNC inlineexplicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
{ setEmpty(); }
/** Constructs a box with extremities \a _min and \a _max.
* \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */ template<typename OtherVectorType1, typename OtherVectorType2>
EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
/** Constructs a box containing a single point \a p. */ template<typename Derived>
EIGEN_DEVICE_FUNC inlineexplicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
{ }
EIGEN_DEVICE_FUNC ~AlignedBox() {}
/** \returns the dimension in which the box holds */
EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
/** \returns the minimal corner */
EIGEN_DEVICE_FUNC inlineconst VectorType& (min)() const { return m_min; } /** \returns a non const reference to the minimal corner */
EIGEN_DEVICE_FUNC inline VectorType& (min)() { return m_min; } /** \returns the maximal corner */
EIGEN_DEVICE_FUNC inlineconst VectorType& (max)() const { return m_max; } /** \returns a non const reference to the maximal corner */
EIGEN_DEVICE_FUNC inline VectorType& (max)() { return m_max; }
/** \returns the center of the box */
EIGEN_DEVICE_FUNC inlineconst EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient)
center() const
{ return (m_min+m_max)/RealScalar(2); }
/** \returns the lengths of the sides of the bounding box. * Note that this function does not get the same * result for integral or floating scalar types: see
*/
EIGEN_DEVICE_FUNC inlineconst CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> sizes() const
{ return m_max - m_min; }
/** \returns the volume of the bounding box */
EIGEN_DEVICE_FUNC inline Scalar volume() const
{ return sizes().prod(); }
/** \returns an expression for the bounding box diagonal vector * if the length of the diagonal is needed: diagonal().norm() * will provide it.
*/
EIGEN_DEVICE_FUNC inline CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> diagonal() const
{ return sizes(); }
/** \returns the vertex of the bounding box at the corner defined by * the corner-id corner. It works only for a 1D, 2D or 3D bounding box. * For 1D bounding boxes corners are named by 2 enum constants: * BottomLeft and BottomRight. * For 2D bounding boxes, corners are named by 4 enum constants: * BottomLeft, BottomRight, TopLeft, TopRight. * For 3D bounding boxes, the following names are added: * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
*/
EIGEN_DEVICE_FUNC inline VectorType corner(CornerType corner) const
{
EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
VectorType res;
Index mult = 1; for(Index d=0; d<dim(); ++d)
{ if( mult & corner ) res[d] = m_max[d]; else res[d] = m_min[d];
mult *= 2;
} return res;
}
/** \returns a random point inside the bounding box sampled with
* a uniform distribution */
EIGEN_DEVICE_FUNC inline VectorType sample() const
{
VectorType r(dim()); for(Index d=0; d<dim(); ++d)
{ if(!ScalarTraits::IsInteger)
{
r[d] = m_min[d] + (m_max[d]-m_min[d])
* internal::random<Scalar>(Scalar(0), Scalar(1));
} else
r[d] = internal::random(m_min[d], m_max[d]);
} return r;
}
/** \returns true if the point \a p is inside the box \c *this. */ template<typename Derived>
EIGEN_DEVICE_FUNC inlinebool contains(const MatrixBase<Derived>& p) const
{ typename internal::nested_eval<Derived,2>::type p_n(p.derived()); return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
}
/** \returns true if the box \a b is entirely inside the box \c *this. */
EIGEN_DEVICE_FUNC inlinebool contains(const AlignedBox& b) const
{ return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
/** \returns true if the box \a b is intersecting the box \c *this.
* \sa intersection, clamp */
EIGEN_DEVICE_FUNC inlinebool intersects(const AlignedBox& b) const
{ return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
/** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
* \sa extend(const AlignedBox&) */ template<typename Derived>
EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p)
{ typename internal::nested_eval<Derived,2>::type p_n(p.derived());
m_min = m_min.cwiseMin(p_n);
m_max = m_max.cwiseMax(p_n); return *this;
}
/** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
* \sa merged, extend(const MatrixBase&) */
EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b)
{
m_min = m_min.cwiseMin(b.m_min);
m_max = m_max.cwiseMax(b.m_max); return *this;
}
/** Clamps \c *this by the box \a b and returns a reference to \c *this. * \note If the boxes don't intersect, the resulting box is empty.
* \sa intersection(), intersects() */
EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b)
{
m_min = m_min.cwiseMax(b.m_min);
m_max = m_max.cwiseMin(b.m_max); return *this;
}
/** Returns an AlignedBox that is the intersection of \a b and \c *this * \note If the boxes don't intersect, the resulting box is empty.
* \sa intersects(), clamp, contains() */
EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const
{return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
/** Returns an AlignedBox that is the union of \a b and \c *this. * \note Merging with an empty box may result in a box bigger than \c *this.
* \sa extend(const AlignedBox&) */
EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
{ return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
/** Translate \c *this by the vector \a t and returns a reference to \c *this. */ template<typename Derived>
EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
{ consttypename internal::nested_eval<Derived,2>::type t(a_t.derived());
m_min += t;
m_max += t; return *this;
}
/** \returns a copy of \c *this translated by the vector \a t. */ template<typename Derived>
EIGEN_DEVICE_FUNC inline AlignedBox translated(const MatrixBase<Derived>& a_t) const
{
AlignedBox result(m_min, m_max);
result.translate(a_t); return result;
}
/** \returns the squared distance between the point \a p and the box \c *this, * and zero if \a p is inside the box. * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)</span>
*/ template<typename Derived>
EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
/** \returns the squared distance between the boxes \a b and \c *this, * and zero if the boxes intersect. * \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)</span>
*/
EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
/** \returns the distance between the point \a p and the box \c *this, * and zero if \a p is inside the box. * \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)</span>
*/ template<typename Derived>
EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
{ EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
/** \returns the distance between the boxes \a b and \c *this, * and zero if the boxes intersect. * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)</span>
*/
EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
{ EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
/** * Specialization of transform for pure translation.
*/ template<int Mode, int Options>
EIGEN_DEVICE_FUNC inlinevoid transform( consttypename Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>::TranslationType& translation)
{
this->translate(translation);
}
/** * Transforms this box by \a transform and recomputes it to * still be an axis-aligned box. * * \note This method is provided under BSD license (see the top of this file).
*/ template<int Mode, int Options>
EIGEN_DEVICE_FUNC inlinevoid transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform)
{ // Only Affine and Isometry transforms are currently supported.
EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
// two times rotated extent const VectorType rotated_extent_2 = transform.linear().cwiseAbs() * sizes(); // two times new center const VectorType rotated_center_2 = transform.linear() * (this->m_max + this->m_min) +
Scalar(2) * transform.translation();
/** * \returns a copy of \c *this transformed by \a transform and recomputed to * still be an axis-aligned box.
*/ template<int Mode, int Options>
EIGEN_DEVICE_FUNC AlignedBox transformed(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) const
{
AlignedBox result(m_min, m_max);
result.transform(transform); return result;
}
/** \returns \c *this with scalar type casted to \a NewScalarType * * Note that if \a NewScalarType is equal to the current scalar type of \c *this * then this function smartly returns a const reference to \c *this.
*/ template<typename NewScalarType>
EIGEN_DEVICE_FUNC inlinetypename internal::cast_return_type<AlignedBox,
AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
{ returntypename internal::cast_return_type<AlignedBox,
AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
}
/** \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
*/
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