mirror of
https://gitlab.com/libeigen/eigen.git
synced 2025-03-01 18:26:24 +08:00
some hyperplane changes:
- the coefficients are stored in a single vector - added transformation methods - removed Line* typedef since in 2D this is really an hyperplane and not really a line... - HyperPlane => Hyperplane
This commit is contained in:
Gael Guennebaud
parent
409e82be06
commit
6d841512c7
@ -31,7 +31,7 @@ namespace Eigen {
|
||||
#include "src/Geometry/AngleAxis.h"
|
||||
#include "src/Geometry/Rotation.h"
|
||||
#include "src/Geometry/Transform.h"
|
||||
#include "src/Geometry/HyperPlane.h"
|
||||
#include "src/Geometry/Hyperplane.h"
|
||||
|
||||
} // namespace Eigen
|
||||
|
||||
|
||||
@ -22,12 +22,12 @@
|
||||
// License and a copy of the GNU General Public License along with
|
||||
// Eigen. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
#ifndef EIGEN_HYPERPLANE_H
|
||||
#define EIGEN_HYPERPLANE_H
|
||||
#ifndef EIGEN_Hyperplane_H
|
||||
#define EIGEN_Hyperplane_H
|
||||
|
||||
/** \geometry_module \ingroup GeometryModule
|
||||
*
|
||||
* \class HyperPlane
|
||||
* \class Hyperplane
|
||||
*
|
||||
* \brief Represents an hyper plane in any dimensions
|
||||
*
|
||||
@ -40,9 +40,8 @@
|
||||
*
|
||||
*/
|
||||
|
||||
// FIXME default to 3 (because plane => dim=3, or default to Dynamic ?)
|
||||
template <typename _Scalar, int _Dim = 3>
|
||||
class HyperPlane
|
||||
template <typename _Scalar, int _Dim>
|
||||
class Hyperplane
|
||||
{
|
||||
|
||||
public:
|
||||
@ -51,81 +50,86 @@ class HyperPlane
|
||||
typedef _Scalar Scalar;
|
||||
typedef typename NumTraits<Scalar>::Real RealScalar;
|
||||
typedef Matrix<Scalar,DimAtCompileTime,1> VectorType;
|
||||
typedef Matrix<Scalar,DimAtCompileTime==Dynamic
|
||||
? Dynamic
|
||||
: DimAtCompileTime+1,1> Coefficients;
|
||||
typedef Block<Coefficients,DimAtCompileTime,1> NormalReturnType;
|
||||
|
||||
HyperPlane(int _dim = DimAtCompileTime)
|
||||
: m_normal(_dim)
|
||||
{}
|
||||
/** Default constructor without initialization */
|
||||
inline Hyperplane(int _dim = DimAtCompileTime) : m_coeffs(_dim+1) {}
|
||||
|
||||
/** Construct a plane from its normal \a normal and a point \a e onto the plane.
|
||||
/** Construct a plane from its normal \a n and a point \a e onto the plane.
|
||||
* \warning the vector normal is assumed to be normalized.
|
||||
*/
|
||||
HyperPlane(const VectorType& normal, const VectorType e)
|
||||
: m_normal(normal), m_offset(-e.dot(normal))
|
||||
{}
|
||||
inline Hyperplane(const VectorType& n, const VectorType e)
|
||||
: m_coeffs(n.size()+1)
|
||||
{
|
||||
_normal() = n;
|
||||
_offset() = -e.dot(n);
|
||||
}
|
||||
|
||||
/** Constructs a plane from its normal \a normal and distance to the origin \a d.
|
||||
/** Constructs a plane from its normal \a n and distance to the origin \a d.
|
||||
* \warning the vector normal is assumed to be normalized.
|
||||
*/
|
||||
HyperPlane(const VectorType& normal, Scalar d)
|
||||
: m_normal(normal), m_offset(d)
|
||||
{}
|
||||
inline Hyperplane(const VectorType& n, Scalar d)
|
||||
: m_coeffs(n.size()+1)
|
||||
{
|
||||
_normal() = n;
|
||||
_offset() = d;
|
||||
}
|
||||
|
||||
~HyperPlane() {}
|
||||
~Hyperplane() {}
|
||||
|
||||
/** \returns the dimension in which the plane holds */
|
||||
int dim() const { return m_normal.size(); }
|
||||
inline int dim() const { return DimAtCompileTime==Dynamic ? m_coeffs.size()-1 : DimAtCompileTime; }
|
||||
|
||||
/** normalizes \c *this */
|
||||
void normalize(void)
|
||||
{
|
||||
RealScalar l = Scalar(1)/m_normal.norm();
|
||||
m_normal *= l;
|
||||
m_offset *= l;
|
||||
}
|
||||
void normalize(void);
|
||||
|
||||
/** \returns the signed distance between the plane \c *this and a point \a p.
|
||||
*/
|
||||
inline Scalar distanceTo(const VectorType& p) const
|
||||
{
|
||||
return p.dot(m_normal) + m_offset;
|
||||
}
|
||||
inline Scalar distanceTo(const VectorType& p) const { return p.dot(normal()) + offset(); }
|
||||
|
||||
/** \returns the projection of a point \a p onto the plane \c *this.
|
||||
*/
|
||||
inline VectorType project(const VectorType& p) const
|
||||
{
|
||||
return p - distanceTo(p) * m_normal;
|
||||
}
|
||||
inline VectorType project(const VectorType& p) const { return p - distanceTo(p) * normal(); }
|
||||
|
||||
/** \returns the normal of the plane, which corresponds to the linear part of the implicit equation. */
|
||||
inline const VectorType& normal(void) const { return m_normal; }
|
||||
inline const NormalReturnType normal() const { return NormalReturnType(m_coeffs,0,0,dim(),1); }
|
||||
|
||||
/** \returns the distance to the origin, which is also the constant part
|
||||
* of the implicit equation */
|
||||
inline Scalar offset(void) const { return m_offset; }
|
||||
inline Scalar offset() const { return m_coeffs(dim()); }
|
||||
|
||||
/** Set the normal of the plane.
|
||||
* \warning the vector normal is assumed to be normalized. */
|
||||
inline void setNormal(const VectorType& normal) { m_normal = normal; }
|
||||
inline void setNormal(const VectorType& normal) { _normal() = normal; }
|
||||
|
||||
/** Set the distance to origin */
|
||||
inline void setOffset(Scalar d) { m_offset = d; }
|
||||
inline void setOffset(Scalar d) { _offset() = d; }
|
||||
|
||||
/** \returns a pointer the coefficients c_i of the plane equation:
|
||||
* c_0*x_0 + ... + c_d-1*x_d-1 + offset = 0
|
||||
* \warning this is only for fixed size dimensions !
|
||||
/** \returns the coefficients c_i of the plane equation:
|
||||
* \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
|
||||
*/
|
||||
inline const Scalar* equation(void) const { return m_normal.data(); }
|
||||
// FIXME name: equation vs coeffs vs coefficients ???
|
||||
inline Coefficients equation(void) const { return m_coeffs; }
|
||||
|
||||
/** \brief Plane/ray intersection.
|
||||
Returns the parameter value of the intersection between the plane \a *this
|
||||
and the parametric ray of origin \a rayOrigin and axis \a rayDir
|
||||
*/
|
||||
Scalar rayIntersection(const VectorType& rayOrigin, const VectorType& rayDir)
|
||||
inline Scalar rayIntersection(const VectorType& rayOrigin, const VectorType& rayDir)
|
||||
{
|
||||
return -(m_offset+rayOrigin.dot(m_normal))/(rayDir.dot(m_normal));
|
||||
return -(_offset()+rayOrigin.dot(_normal()))/(rayDir.dot(_normal()));
|
||||
}
|
||||
|
||||
template<typename XprType>
|
||||
inline Hyperplane operator* (const MatrixBase<XprType>& mat) const
|
||||
{ return Hyperplane(mat.inverse().transpose() * _normal(), _offset()); }
|
||||
|
||||
template<typename XprType>
|
||||
inline Hyperplane& operator*= (const MatrixBase<XprType>& mat) const
|
||||
{ _normal() = mat.inverse().transpose() * _normal(); return *this; }
|
||||
|
||||
// TODO some convenient functions to fit a 3D plane on 3 points etc...
|
||||
// void makePassBy(const VectorType& p0, const VectorType& p1, const VectorType& p2)
|
||||
// {
|
||||
@ -143,24 +147,33 @@ class HyperPlane
|
||||
|
||||
protected:
|
||||
|
||||
VectorType m_normal;
|
||||
Scalar m_offset;
|
||||
inline NormalReturnType _normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
|
||||
inline Scalar& _offset() { return m_coeffs(dim()); }
|
||||
|
||||
Coefficients m_coeffs;
|
||||
};
|
||||
|
||||
/** \addtogroup GeometryModule */
|
||||
//@{
|
||||
typedef HyperPlane<float, 2> HyperPlane2f;
|
||||
typedef HyperPlane<double,2> HyperPlane2d;
|
||||
typedef HyperPlane<float, 3> HyperPlane3f;
|
||||
typedef HyperPlane<double,3> HyperPlane3d;
|
||||
typedef Hyperplane<float, 2> Hyperplane2f;
|
||||
typedef Hyperplane<double,2> Hyperplane2d;
|
||||
typedef Hyperplane<float, 3> Hyperplane3f;
|
||||
typedef Hyperplane<double,3> Hyperplane3d;
|
||||
|
||||
typedef HyperPlane<float, 2> Linef;
|
||||
typedef HyperPlane<double,2> Lined;
|
||||
typedef HyperPlane<float, 3> Planef;
|
||||
typedef HyperPlane<double,3> Planed;
|
||||
typedef Hyperplane<float, 3> Planef;
|
||||
typedef Hyperplane<double,3> Planed;
|
||||
|
||||
typedef HyperPlane<float, Dynamic> HyperPlaneXf;
|
||||
typedef HyperPlane<double,Dynamic> HyperPlaneXd;
|
||||
typedef Hyperplane<float, Dynamic> HyperplaneXf;
|
||||
typedef Hyperplane<double,Dynamic> HyperplaneXd;
|
||||
//@}
|
||||
|
||||
#endif // EIGEN_HYPERPLANE_H
|
||||
/** normalizes \c *this */
|
||||
template <typename _Scalar, int _Dim>
|
||||
void Hyperplane<_Scalar,_Dim>::normalize(void)
|
||||
{
|
||||
RealScalar l = Scalar(1)/_normal().norm();
|
||||
_normal() *= l;
|
||||
_offset() *= l;
|
||||
}
|
||||
|
||||
#endif // EIGEN_Hyperplane_H
|
||||
@ -29,7 +29,7 @@
|
||||
template<typename PlaneType> void hyperplane(const PlaneType& _plane)
|
||||
{
|
||||
/* this test covers the following files:
|
||||
HyperPlane.h
|
||||
Hyperplane.h
|
||||
*/
|
||||
|
||||
const int dim = _plane.dim();
|
||||
@ -62,10 +62,10 @@ template<typename PlaneType> void hyperplane(const PlaneType& _plane)
|
||||
void test_hyperplane()
|
||||
{
|
||||
for(int i = 0; i < g_repeat; i++) {
|
||||
CALL_SUBTEST( hyperplane(HyperPlane<float,2>()) );
|
||||
CALL_SUBTEST( hyperplane(HyperPlane<float,3>()) );
|
||||
CALL_SUBTEST( hyperplane(HyperPlane<double,4>()) );
|
||||
CALL_SUBTEST( hyperplane(HyperPlane<std::complex<double>,5>()) );
|
||||
CALL_SUBTEST( hyperplane(HyperPlane<double,Dynamic>(13)) );
|
||||
CALL_SUBTEST( hyperplane(Hyperplane<float,2>()) );
|
||||
CALL_SUBTEST( hyperplane(Hyperplane<float,3>()) );
|
||||
CALL_SUBTEST( hyperplane(Hyperplane<double,4>()) );
|
||||
CALL_SUBTEST( hyperplane(Hyperplane<std::complex<double>,5>()) );
|
||||
CALL_SUBTEST( hyperplane(Hyperplane<double,Dynamic>(13)) );
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user