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add an Options template parameter to Hyperplane and ParametrizedLine

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This commit is contained in:
Gael Guennebaud 2011-01-27 17:17:06 +01:00
parent d5e81d866a
commit 955e096277
6 changed files with 111 additions and 30 deletions
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4
Eigen/src/Core/util/ForwardDeclarations.h
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@ -247,8 +247,8 @@ template<typename Scalar,int Dim> class Scaling;
#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
template <typename _Scalar, int _AmbientDim> class Hyperplane;
template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
template<typename Scalar> class UniformScaling;
template<typename MatrixType,int Direction> class Homogeneous;
#endif

25
Eigen/src/Geometry/Hyperplane.h
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@ -43,24 +43,32 @@
* \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
* and \f$ d \f$ is the distance (offset) to the origin.
*/
template <typename _Scalar, int _AmbientDim>
template <typename _Scalar, int _AmbientDim, int _Options>
class Hyperplane
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
enum { AmbientDimAtCompileTime = _AmbientDim };
enum {
AmbientDimAtCompileTime = _AmbientDim,
Options = _Options
};
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef DenseIndex Index;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
? Dynamic
: Index(AmbientDimAtCompileTime)+1,1> Coefficients;
: Index(AmbientDimAtCompileTime)+1,1,Options> Coefficients;
typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
/** Default constructor without initialization */
inline explicit Hyperplane() {}
template<int OtherOptions>
Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
: m_coeffs(other.coeffs())
{}
/** Constructs a dynamic-size hyperplane with \a _dim the dimension
* of the ambient space */
@ -245,22 +253,23 @@ public:
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<Hyperplane,
Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
{
return typename internal::cast_return_type<Hyperplane,
Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
}
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime>& other)
template<typename OtherScalarType,int OtherOptions>
inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
{ m_coeffs = other.coeffs().template cast<Scalar>(); }
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const Hyperplane& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
template<int OtherOptions>
bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
{ return m_coeffs.isApprox(other.m_coeffs, prec); }
protected:

38
Eigen/src/Geometry/ParametrizedLine.h
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@ -39,19 +39,27 @@
* \param _Scalar the scalar type, i.e., the type of the coefficients
* \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
*/
template <typename _Scalar, int _AmbientDim>
template <typename _Scalar, int _AmbientDim, int _Options>
class ParametrizedLine
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
enum { AmbientDimAtCompileTime = _AmbientDim };
enum {
AmbientDimAtCompileTime = _AmbientDim,
Options = _Options
};
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef DenseIndex Index;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
/** Default constructor without initialization */
inline explicit ParametrizedLine() {}
template<int OtherOptions>
ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
: m_origin(other.origin()), m_direction(other.direction())
{}
/** Constructs a dynamic-size line with \a _dim the dimension
* of the ambient space */
@ -63,7 +71,8 @@ public:
ParametrizedLine(const VectorType& origin, const VectorType& direction)
: m_origin(origin), m_direction(direction) {}
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
template <int OtherOptions>
explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
/** Constructs a parametrized line going from \a p0 to \a p1. */
static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
@ -97,7 +106,8 @@ public:
VectorType projection(const VectorType& p) const
{ return origin() + direction().dot(p-origin()) * direction(); }
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
template <int OtherOptions>
Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
/** \returns \c *this with scalar type casted to \a NewScalarType
*
@ -106,15 +116,15 @@ public:
*/
template<typename NewScalarType>
inline typename internal::cast_return_type<ParametrizedLine,
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
{
return typename internal::cast_return_type<ParametrizedLine,
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
}
/** Copy constructor with scalar type conversion */
template<typename OtherScalarType>
inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime>& other)
template<typename OtherScalarType,int OtherOptions>
inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
{
m_origin = other.origin().template cast<Scalar>();
m_direction = other.direction().template cast<Scalar>();
@ -136,8 +146,9 @@ protected:
*
* \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
*/
template <typename _Scalar, int _AmbientDim>
inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
direction() = hyperplane.normal().unitOrthogonal();
@ -146,8 +157,9 @@ inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane
/** \returns the parameter value of the intersection between \c *this and the given hyperplane
*/
template <typename _Scalar, int _AmbientDim>
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
template <typename _Scalar, int _AmbientDim, int _Options>
template <int OtherOptions>
inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane)
{
return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
/ hyperplane.normal().dot(direction());

34
test/geo_hyperplane.cpp
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@ -35,6 +35,7 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
*/
typedef typename HyperplaneType::Index Index;
const Index dim = _plane.dim();
enum { Options = HyperplaneType::Options };
typedef typename HyperplaneType::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, 1> VectorType;
@ -85,9 +86,9 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
// casting
const int Dim = HyperplaneType::AmbientDimAtCompileTime;
typedef typename GetDifferentType<Scalar>::type OtherScalar;
Hyperplane<OtherScalar,Dim> hp1f = pl1.template cast<OtherScalar>();
Hyperplane<OtherScalar,Dim,Options> hp1f = pl1.template cast<OtherScalar>();
VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),pl1);
Hyperplane<Scalar,Dim> hp1d = pl1.template cast<Scalar>();
Hyperplane<Scalar,Dim,Options> hp1d = pl1.template cast<Scalar>();
VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),pl1);
}
@ -128,11 +129,40 @@ template<typename Scalar> void lines()
}
}
template<typename Scalar> void hyperplane_alignment()
{
typedef Hyperplane<Scalar,3,AutoAlign> Plane3a;
typedef Hyperplane<Scalar,3,DontAlign> Plane3u;
EIGEN_ALIGN16 Scalar array1[4];
EIGEN_ALIGN16 Scalar array2[4];
EIGEN_ALIGN16 Scalar array3[4+1];
Scalar* array3u = array3+1;
Plane3a *p1 = ::new(reinterpret_cast<void*>(array1)) Plane3a;
Plane3u *p2 = ::new(reinterpret_cast<void*>(array2)) Plane3u;
Plane3u *p3 = ::new(reinterpret_cast<void*>(array3u)) Plane3u;
p1->coeffs().setRandom();
*p2 = *p1;
*p3 = *p1;
VERIFY_IS_APPROX(p1->coeffs(), p2->coeffs());
VERIFY_IS_APPROX(p1->coeffs(), p3->coeffs());
#ifdef EIGEN_VECTORIZE
VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Plane3a));
#endif
}
void test_geo_hyperplane()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1( hyperplane(Hyperplane<float,2>()) );
CALL_SUBTEST_2( hyperplane(Hyperplane<float,3>()) );
CALL_SUBTEST_2( hyperplane(Hyperplane<float,3,DontAlign>()) );
CALL_SUBTEST_2( hyperplane_alignment<float>() );
CALL_SUBTEST_3( hyperplane(Hyperplane<double,4>()) );
CALL_SUBTEST_4( hyperplane(Hyperplane<std::complex<double>,5>()) );
CALL_SUBTEST_1( lines<float>() );

30
test/geo_parametrizedline.cpp
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@ -66,12 +66,42 @@ template<typename LineType> void parametrizedline(const LineType& _line)
VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0);
}
template<typename Scalar> void parametrizedline_alignment()
{
typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a;
typedef ParametrizedLine<Scalar,4,DontAlign> Line4u;
EIGEN_ALIGN16 Scalar array1[8];
EIGEN_ALIGN16 Scalar array2[8];
EIGEN_ALIGN16 Scalar array3[8+1];
Scalar* array3u = array3+1;
Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a;
Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u;
Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u;
p1->origin().setRandom();
p1->direction().setRandom();
*p2 = *p1;
*p3 = *p1;
VERIFY_IS_APPROX(p1->origin(), p2->origin());
VERIFY_IS_APPROX(p1->origin(), p3->origin());
VERIFY_IS_APPROX(p1->direction(), p2->direction());
VERIFY_IS_APPROX(p1->direction(), p3->direction());
#ifdef EIGEN_VECTORIZE
VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Line4a));
#endif
}
void test_geo_parametrizedline()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) );
CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) );
CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) );
CALL_SUBTEST_3( parametrizedline_alignment<double>() );
CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) );
}
}

10
test/geo_transformations.cpp
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@ -429,17 +429,17 @@ template<typename Scalar, int Mode, int Options> void transformations()
template<typename Scalar> void transform_alignment()
{
typedef Transform<Scalar,3,Projective,AutoAlign> Projective4a;
typedef Transform<Scalar,3,Projective,DontAlign> Projective4u;
typedef Transform<Scalar,3,Projective,AutoAlign> Projective3a;
typedef Transform<Scalar,3,Projective,DontAlign> Projective3u;
EIGEN_ALIGN16 Scalar array1[16];
EIGEN_ALIGN16 Scalar array2[16];
EIGEN_ALIGN16 Scalar array3[16+1];
Scalar* array3u = array3+1;
Projective4a *p1 = ::new(reinterpret_cast<void*>(array1)) Projective4a;
Projective4u *p2 = ::new(reinterpret_cast<void*>(array2)) Projective4u;
Projective4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Projective4u;
Projective3a *p1 = ::new(reinterpret_cast<void*>(array1)) Projective3a;
Projective3u *p2 = ::new(reinterpret_cast<void*>(array2)) Projective3u;
Projective3u *p3 = ::new(reinterpret_cast<void*>(array3u)) Projective3u;
p1->matrix().setRandom();
*p2 = *p1;