46#ifndef EIGEN_ALIGNEDBOX_H
47#define EIGEN_ALIGNEDBOX_H
65template <
typename _Scalar,
int _AmbientDim>
69EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
70 enum { AmbientDimAtCompileTime = _AmbientDim };
71 typedef _Scalar Scalar;
74 typedef typename ScalarTraits::Real RealScalar;
75 typedef typename ScalarTraits::NonInteger NonInteger;
102 {
if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=
Dynamic))
setEmpty(); }
110 template<
typename OtherVectorType1,
typename OtherVectorType2>
111 EIGEN_DEVICE_FUNC
inline AlignedBox(
const OtherVectorType1& _min,
const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
114 template<
typename Derived>
121 EIGEN_DEVICE_FUNC
inline Index dim()
const {
return AmbientDimAtCompileTime==
Dynamic ? m_min.size() :
Index(AmbientDimAtCompileTime); }
131 EIGEN_DEVICE_FUNC
inline bool isEmpty()
const {
return (m_min.array() > m_max.array()).any(); }
137 m_min.setConstant( ScalarTraits::highest() );
138 m_max.setConstant( ScalarTraits::lowest() );
142 EIGEN_DEVICE_FUNC
inline const VectorType& (
min)()
const {
return m_min; }
144 EIGEN_DEVICE_FUNC
inline VectorType& (
min)() {
return m_min; }
146 EIGEN_DEVICE_FUNC
inline const VectorType& (
max)()
const {
return m_max; }
148 EIGEN_DEVICE_FUNC
inline VectorType& (
max)() {
return m_max; }
153 {
return (m_min+m_max)/RealScalar(2); }
160 {
return m_max - m_min; }
163 EIGEN_DEVICE_FUNC
inline Scalar
volume()
const
164 {
return sizes().prod(); }
184 EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
191 if( mult &
corner ) res[d] = m_max[d];
192 else res[d] = m_min[d];
200 EIGEN_DEVICE_FUNC
inline VectorType
sample()
const
205 if(!ScalarTraits::IsInteger)
207 r[d] = m_min[d] + (m_max[d]-m_min[d])
208 * internal::random<Scalar>(Scalar(0), Scalar(1));
211 r[d] = internal::random(m_min[d], m_max[d]);
217 template<
typename Derived>
220 typename internal::nested_eval<Derived,2>::type p_n(p.
derived());
221 return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
226 {
return (m_min.array()<=(b.
min)().array()).all() && ((b.
max)().array()<=m_max.array()).all(); }
231 {
return (m_min.array()<=(b.
max)().array()).all() && ((b.
min)().array()<=m_max.array()).all(); }
235 template<
typename Derived>
238 typename internal::nested_eval<Derived,2>::type p_n(p.
derived());
239 m_min = m_min.cwiseMin(p_n);
240 m_max = m_max.cwiseMax(p_n);
248 m_min = m_min.cwiseMin(b.m_min);
249 m_max = m_max.cwiseMax(b.m_max);
258 m_min = m_min.cwiseMax(b.m_min);
259 m_max = m_max.cwiseMin(b.m_max);
267 {
return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
273 {
return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
276 template<
typename Derived>
279 const typename internal::nested_eval<Derived,2>::type t(a_t.
derived());
286 template<
typename Derived>
298 template<
typename Derived>
311 template<
typename Derived>
325 template<
int Mode,
int Options>
338 template<
int Mode,
int Options>
342 EIGEN_STATIC_ASSERT(Mode ==
Affine || Mode ==
AffineCompact || Mode ==
Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
350 const VectorType rotated_extent_2 =
transform.linear().cwiseAbs() *
sizes();
352 const VectorType rotated_center_2 =
transform.linear() * (this->m_max + this->m_min) +
355 this->m_max = (rotated_center_2 + rotated_extent_2) / Scalar(2);
356 this->m_min = (rotated_center_2 - rotated_extent_2) / Scalar(2);
363 template<
int Mode,
int Options>
376 template<
typename NewScalarType>
377 EIGEN_DEVICE_FUNC
inline typename internal::cast_return_type<
AlignedBox,
380 return typename internal::cast_return_type<
AlignedBox,
385 template<
typename OtherScalarType>
396 EIGEN_DEVICE_FUNC
bool isApprox(
const AlignedBox& other,
const RealScalar& prec = ScalarTraits::dummy_precision())
const
397 {
return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
401 VectorType m_min, m_max;
406template<
typename Scalar,
int AmbientDim>
407template<
typename Derived>
410 typename internal::nested_eval<Derived,2*AmbientDim>::type p(a_p.
derived());
415 if( m_min[k] > p[k] )
417 aux = m_min[k] - p[k];
420 else if( p[k] > m_max[k] )
422 aux = p[k] - m_max[k];
429template<
typename Scalar,
int AmbientDim>
436 if( m_min[k] > b.m_max[k] )
438 aux = m_min[k] - b.m_max[k];
441 else if( b.m_min[k] > m_max[k] )
443 aux = b.m_min[k] - m_max[k];
466#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
468typedef AlignedBox<Type, Size> AlignedBox##SizeSuffix##TypeSuffix;
470#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
471EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
472EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
473EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
474EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
475EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
477EIGEN_MAKE_TYPEDEFS_ALL_SIZES(
int, i)
478EIGEN_MAKE_TYPEDEFS_ALL_SIZES(
float, f)
479EIGEN_MAKE_TYPEDEFS_ALL_SIZES(
double, d)
481#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
482#undef EIGEN_MAKE_TYPEDEFS
An axis aligned box.
Definition AlignedBox.h:67
const VectorType & max() const
Definition AlignedBox.h:146
bool contains(const AlignedBox &b) const
Definition AlignedBox.h:225
AlignedBox(const AlignedBox< OtherScalarType, AmbientDimAtCompileTime > &other)
Definition AlignedBox.h:386
VectorType corner(CornerType corner) const
Definition AlignedBox.h:182
AlignedBox & extend(const MatrixBase< Derived > &p)
Definition AlignedBox.h:236
bool intersects(const AlignedBox &b) const
Definition AlignedBox.h:230
const CwiseBinaryOp< internal::scalar_difference_op< Scalar, Scalar >, const VectorType, const VectorType > sizes() const
Definition AlignedBox.h:159
void setEmpty()
Definition AlignedBox.h:135
void setNull()
Definition AlignedBox.h:127
const VectorType & min() const
Definition AlignedBox.h:142
bool isEmpty() const
Definition AlignedBox.h:131
bool isNull() const
Definition AlignedBox.h:124
NonInteger exteriorDistance(const MatrixBase< Derived > &p) const
Definition AlignedBox.h:312
internal::cast_return_type< AlignedBox, AlignedBox< NewScalarType, AmbientDimAtCompileTime > >::type cast() const
Definition AlignedBox.h:378
AlignedBox translated(const MatrixBase< Derived > &a_t) const
Definition AlignedBox.h:287
AlignedBox()
Definition AlignedBox.h:101
Index dim() const
Definition AlignedBox.h:121
AlignedBox merged(const AlignedBox &b) const
Definition AlignedBox.h:272
Eigen::Index Index
Definition AlignedBox.h:73
AlignedBox(const MatrixBase< Derived > &p)
Definition AlignedBox.h:115
AlignedBox & clamp(const AlignedBox &b)
Definition AlignedBox.h:256
Scalar squaredExteriorDistance(const MatrixBase< Derived > &p) const
Definition AlignedBox.h:408
CwiseBinaryOp< internal::scalar_difference_op< Scalar, Scalar >, const VectorType, const VectorType > diagonal() const
Definition AlignedBox.h:170
bool contains(const MatrixBase< Derived > &p) const
Definition AlignedBox.h:218
AlignedBox & translate(const MatrixBase< Derived > &a_t)
Definition AlignedBox.h:277
void transform(const typename Transform< Scalar, AmbientDimAtCompileTime, Mode, Options >::TranslationType &translation)
Definition AlignedBox.h:326
Scalar squaredExteriorDistance(const AlignedBox &b) const
Definition AlignedBox.h:430
void transform(const Transform< Scalar, AmbientDimAtCompileTime, Mode, Options > &transform)
Definition AlignedBox.h:339
const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient) center() const
Definition AlignedBox.h:151
AlignedBox(const OtherVectorType1 &_min, const OtherVectorType2 &_max)
Definition AlignedBox.h:111
AlignedBox transformed(const Transform< Scalar, AmbientDimAtCompileTime, Mode, Options > &transform) const
Definition AlignedBox.h:364
AlignedBox intersection(const AlignedBox &b) const
Definition AlignedBox.h:266
bool isApprox(const AlignedBox &other, const RealScalar &prec=ScalarTraits::dummy_precision()) const
Definition AlignedBox.h:396
AlignedBox & extend(const AlignedBox &b)
Definition AlignedBox.h:246
AlignedBox(Index _dim)
Definition AlignedBox.h:105
VectorType sample() const
Definition AlignedBox.h:200
Scalar volume() const
Definition AlignedBox.h:163
CornerType
Definition AlignedBox.h:81
@ TopLeftFloor
Definition AlignedBox.h:93
@ BottomLeft
Definition AlignedBox.h:87
@ BottomRightFloor
Definition AlignedBox.h:92
@ Min
Definition AlignedBox.h:83
@ BottomLeftCeil
Definition AlignedBox.h:94
@ BottomLeftFloor
Definition AlignedBox.h:92
@ TopLeft
Definition AlignedBox.h:88
@ Max
Definition AlignedBox.h:83
@ TopRightCeil
Definition AlignedBox.h:95
@ TopRightFloor
Definition AlignedBox.h:93
@ BottomRight
Definition AlignedBox.h:87
@ BottomRightCeil
Definition AlignedBox.h:94
@ TopLeftCeil
Definition AlignedBox.h:95
@ TopRight
Definition AlignedBox.h:88
NonInteger exteriorDistance(const AlignedBox &b) const
Definition AlignedBox.h:319
Generic expression where a coefficient-wise binary operator is applied to two expressions.
Definition CwiseBinaryOp.h:84
Derived & derived()
Definition EigenBase.h:46
Base class for all dense matrices, vectors, and expressions.
Definition MatrixBase.h:50
The matrix class, also used for vectors and row-vectors.
Definition Matrix.h:180
@ Affine
Definition Constants.h:460
@ AffineCompact
Definition Constants.h:462
@ Isometry
Definition Constants.h:457
Namespace containing all symbols from the Eigen library.
Definition Core:141
const Eigen::CwiseUnaryOp< Eigen::internal::scalar_sqrt_op< typename Derived::Scalar >, const Derived > sqrt(const Eigen::ArrayBase< Derived > &x)
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
Definition Meta.h:74
const int Dynamic
Definition Constants.h:22
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Definition NumTraits.h:233