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Improved patch from Manuel Yguel:

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Enhance AlignedBox to accept integral types and add some usefull methods: diagonal, volume, sample.
This commit is contained in:
Gael Guennebaud 2010-02-10 11:40:55 +01:00
parent bb290977b8
commit 8918d18e21
2 changed files with 181 additions and 41 deletions
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4
Eigen/src/Core/NumTraits.h
View File

@ -54,8 +54,8 @@ template<typename T> struct NumTraits;
template<typename T> struct ei_default_float_numtraits
: std::numeric_limits<T>
{
inline static T higest() { return std::numeric_limits<T>::max(); }
inline static T lowest() { return -std::numeric_limits<T>::max(); }
inline static T highest() { return std::numeric_limits<T>::max(); }
inline static T lowest() { return -std::numeric_limits<T>::max(); }
};
template<typename T> struct ei_default_integral_numtraits

218
Eigen/src/Geometry/AlignedBox.h
View File

@ -43,37 +43,70 @@ class AlignedBox
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
enum { AmbientDimAtCompileTime = _AmbientDim };
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
typedef _Scalar Scalar;
typedef NumTraits<Scalar> ScalarTraits;
typedef typename ScalarTraits::Real RealScalar;
typedef typename ScalarTraits::FloatingPoint FloatingPoint;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
/** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
enum CornerType
{
/** 1D names */
Min=0, Max=1,
/** Added names for 2D */
BottomLeft=0, BottomRight=1,
TopLeft=2, TopRight=3,
/** Added names for 3D */
BottomLeftFloor=0, BottomRightFloor=1,
TopLeftFloor=2, TopRightFloor=3,
BottomLeftCeil=4, BottomRightCeil=5,
TopLeftCeil=6, TopRightCeil=7
};
/** Default constructor initializing a null box. */
inline explicit AlignedBox()
{ if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
{ if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
/** Constructs a null box with \a _dim the dimension of the ambient space. */
inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
{ setNull(); }
{ setEmpty(); }
/** Constructs a box with extremities \a _min and \a _max. */
inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
template<typename OtherVectorType1, typename OtherVectorType2>
inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
/** Constructs a box containing a single point \a p. */
inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
template<typename Derived>
inline explicit AlignedBox(const MatrixBase<Derived>& a_p)
{
const typename ei_nested<Derived,2>::type p(a_p.derived());
m_min = p;
m_max = p;
}
~AlignedBox() {}
/** \returns the dimension in which the box holds */
inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
/** \returns true if the box is null, i.e, empty. */
inline bool isNull() const { return (m_min.array() > m_max.array()).any(); }
/** \deprecated use isEmpty */
inline bool isNull() const { return isEmpty(); }
/** Makes \c *this a null/empty box. */
inline void setNull()
/** \deprecated use setEmpty */
inline void setNull() { setEmpty(); }
/** \returns true if the box is empty. */
inline bool isEmpty() const { return (m_min.cwise() > m_max).any(); }
/** Makes \c *this an empty box. */
inline void setEmpty()
{
m_min.setConstant( std::numeric_limits<Scalar>::max());
m_max.setConstant(-std::numeric_limits<Scalar>::max());
m_min.setConstant( ScalarTraits::highest() );
m_max.setConstant( ScalarTraits::lowest() );
}
/** \returns the minimal corner */
@ -86,45 +119,135 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
inline VectorType& max() { return m_max; }
/** \returns the center of the box */
inline VectorType center() const { return (m_min + m_max) / 2; }
inline const CwiseUnaryOp<ei_scalar_quotient1_op<Scalar>,
CwiseBinaryOp<ei_scalar_sum_op<Scalar>, VectorType, VectorType> >
center() const
{ return (m_min+m_max)/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
*/
inline const CwiseBinaryOp< ei_scalar_difference_op<Scalar>, VectorType, VectorType> sizes() const
{ return m_max - m_min; }
/** \returns the volume of the bounding box */
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.
*/
inline CwiseBinaryOp< ei_scalar_difference_op<Scalar>, VectorType, 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.
*/
inline VectorType corner(CornerType corner) const
{
EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
VectorType res;
int mult = 1;
for(int 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 */
inline VectorType sample() const
{
VectorType r;
for(int d=0; d<dim(); ++d)
{
if(ScalarTraits::HasFloatingPoint)
{
r[d] = m_min[d] + (m_max[d]-m_min[d])
* (ei_random<Scalar>() + ei_random_amplitude<Scalar>())
/ (Scalar(2)*ei_random_amplitude<Scalar>() );
}
else
r[d] = ei_random(m_min[d], m_max[d]);
}
return r;
}
/** \returns true if the point \a p is inside the box \c *this. */
inline bool contains(const VectorType& p) const
{ return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).all(); }
template<typename Derived>
inline bool contains(const MatrixBase<Derived>& a_p) const
{
const typename ei_nested<Derived,2>::type p(a_p.derived());
return (m_min.array()<=p.array()).all() && (p.array()<=m_max.array()).all();
}
/** \returns true if the box \a b is entirely inside the box \c *this. */
inline bool contains(const AlignedBox& b) const
{ return (m_min.array()<=b.min().array()).all() && (b.max().array()<=m_max.array()).all(); }
/** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
inline AlignedBox& extend(const VectorType& p)
{ m_min = m_min.cwiseMin(p); m_max = m_max.cwiseMax(p); return *this; }
template<typename Derived>
inline AlignedBox& extend(const MatrixBase<Derived>& a_p)
{
const typename ei_nested<Derived,2>::type p(a_p.derived());
m_min = m_min.cwiseMin(p);
m_max = m_max.cwiseMax(p);
return *this;
}
/** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
inline AlignedBox& extend(const AlignedBox& b)
{ m_min = m_min.cwiseMin(b.m_min); m_max = m_max.cwiseMax(b.m_max); return *this; }
{
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. */
inline AlignedBox& clamp(const AlignedBox& b)
{ m_min = m_min.cwiseMax(b.m_min); m_max = m_max.cwiseMin(b.m_max); return *this; }
{
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 */
inline AlignedBox intersection(const AlignedBox &b) const
{ return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
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 */
inline AlignedBox merged(const AlignedBox &b) const
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. */
inline AlignedBox& translate(const VectorType& t)
{ m_min += t; m_max += t; return *this; }
template<typename Derived>
inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
{
const typename ei_nested<Derived,2>::type t(a_t.derived());
m_min += t;
m_max += t;
return *this;
}
/** \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()
*/
inline Scalar squaredExteriorDistance(const VectorType& p) const;
template<typename Derived>
inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& a_p) const;
/** \returns the squared distance between the boxes \a b and \c *this,
* and zero if the boxes intersect.
@ -136,15 +259,16 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
* and zero if \a p is inside the box.
* \sa squaredExteriorDistance()
*/
inline Scalar exteriorDistance(const VectorType& p) const
{ return ei_sqrt(squaredExteriorDistance(p)); }
template<typename Derived>
inline FloatingPoint exteriorDistance(const MatrixBase<Derived>& p) const
{ return ei_sqrt(FloatingPoint(squaredExteriorDistance(p))); }
/** \returns the distance between the boxes \a b and \c *this,
* and zero if the boxes intersect.
* \sa squaredExteriorDistance()
*/
inline Scalar exteriorDistance(const AlignedBox& b) const
{ return ei_sqrt(squaredExteriorDistance(b)); }
inline FloatingPoint exteriorDistance(const AlignedBox& b) const
{ return ei_sqrt(FloatingPoint(squaredExteriorDistance(b))); }
/** \returns \c *this with scalar type casted to \a NewScalarType
*
@ -171,7 +295,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
bool isApprox(const AlignedBox& other, RealScalar prec = ScalarTraits::dummy_precision()) const
{ return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
protected:
@ -179,32 +303,48 @@ protected:
VectorType m_min, m_max;
};
template<typename Scalar,int AmbiantDim>
inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
template<typename Scalar,int AmbientDim>
template<typename Derived>
inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
{
const typename ei_nested<Derived,2*AmbientDim>::type p(a_p.derived());
Scalar dist2 = 0.;
Scalar aux;
for (int k=0; k<dim(); ++k)
{
if ((aux = (p[k]-m_min[k]))<Scalar(0))
if( m_min[k] > p[k] )
{
aux = m_min[k] - p[k];
dist2 += aux*aux;
else if ( (aux = (m_max[k]-p[k]))<Scalar(0) )
}
else if( p[k] > m_max[k] )
{
aux = p[k] - m_max[k];
dist2 += aux*aux;
}
}
return dist2;
}
template<typename Scalar,int AmbiantDim>
inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const AlignedBox& b) const
template<typename Scalar,int AmbientDim>
inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
{
Scalar dist2 = 0.;
Scalar aux;
for (int k=0; k<dim(); ++k)
{
if ((aux = (b.m_min[k]-m_max[k]))>0.)
if( m_min[k] > b.m_max[k] )
{
aux = m_min[k] - b.m_max[k];
dist2 += aux*aux;
else if ( (aux = (m_min[k]-b.m_max[k]))>0. )
}
else if( b.m_min[k] > m_max[k] )
{
aux = b.m_min[k] - m_max[k];
dist2 += aux*aux;
}
}
return dist2;
}