1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra. Eigen itself is part of the KDE project.
3 //
4 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
5 //
6 // This Source Code Form is subject to the terms of the Mozilla
7 // Public License v. 2.0. If a copy of the MPL was not distributed
8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
11
12 namespace Eigen {
13
14 /** \geometry_module \ingroup Geometry_Module
15 * \nonstableyet
16 *
17 * \class AlignedBox
18 *
19 * \brief An axis aligned box
20 *
21 * \param _Scalar the type of the scalar coefficients
22 * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
23 *
24 * This class represents an axis aligned box as a pair of the minimal and maximal corners.
25 */
26 template <typename _Scalar, int _AmbientDim>
27 class AlignedBox
28 {
29 public:
30 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
31 enum { AmbientDimAtCompileTime = _AmbientDim };
32 typedef _Scalar Scalar;
33 typedef typename NumTraits<Scalar>::Real RealScalar;
34 typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
35
36 /** Default constructor initializing a null box. */
AlignedBox()37 inline explicit AlignedBox()
38 { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
39
40 /** Constructs a null box with \a _dim the dimension of the ambient space. */
AlignedBox(int _dim)41 inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
42 { setNull(); }
43
44 /** Constructs a box with extremities \a _min and \a _max. */
AlignedBox(const VectorType & _min,const VectorType & _max)45 inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
46
47 /** Constructs a box containing a single point \a p. */
AlignedBox(const VectorType & p)48 inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
49
~AlignedBox()50 ~AlignedBox() {}
51
52 /** \returns the dimension in which the box holds */
dim()53 inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
54
55 /** \returns true if the box is null, i.e, empty. */
isNull()56 inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
57
58 /** Makes \c *this a null/empty box. */
setNull()59 inline void setNull()
60 {
61 m_min.setConstant( (std::numeric_limits<Scalar>::max)());
62 m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
63 }
64
65 /** \returns the minimal corner */
66 inline const VectorType& (min)() const { return m_min; }
67 /** \returns a non const reference to the minimal corner */
68 inline VectorType& (min)() { return m_min; }
69 /** \returns the maximal corner */
70 inline const VectorType& (max)() const { return m_max; }
71 /** \returns a non const reference to the maximal corner */
72 inline VectorType& (max)() { return m_max; }
73
74 /** \returns true if the point \a p is inside the box \c *this. */
contains(const VectorType & p)75 inline bool contains(const VectorType& p) const
76 { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
77
78 /** \returns true if the box \a b is entirely inside the box \c *this. */
contains(const AlignedBox & b)79 inline bool contains(const AlignedBox& b) const
80 { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
81
82 /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
extend(const VectorType & p)83 inline AlignedBox& extend(const VectorType& p)
84 { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
85
86 /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
extend(const AlignedBox & b)87 inline AlignedBox& extend(const AlignedBox& b)
88 { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
89
90 /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
clamp(const AlignedBox & b)91 inline AlignedBox& clamp(const AlignedBox& b)
92 { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
93
94 /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
translate(const VectorType & t)95 inline AlignedBox& translate(const VectorType& t)
96 { m_min += t; m_max += t; return *this; }
97
98 /** \returns the squared distance between the point \a p and the box \c *this,
99 * and zero if \a p is inside the box.
100 * \sa exteriorDistance()
101 */
102 inline Scalar squaredExteriorDistance(const VectorType& p) const;
103
104 /** \returns the distance between the point \a p and the box \c *this,
105 * and zero if \a p is inside the box.
106 * \sa squaredExteriorDistance()
107 */
exteriorDistance(const VectorType & p)108 inline Scalar exteriorDistance(const VectorType& p) const
109 { return ei_sqrt(squaredExteriorDistance(p)); }
110
111 /** \returns \c *this with scalar type casted to \a NewScalarType
112 *
113 * Note that if \a NewScalarType is equal to the current scalar type of \c *this
114 * then this function smartly returns a const reference to \c *this.
115 */
116 template<typename NewScalarType>
117 inline typename internal::cast_return_type<AlignedBox,
cast()118 AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
119 {
120 return typename internal::cast_return_type<AlignedBox,
121 AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
122 }
123
124 /** Copy constructor with scalar type conversion */
125 template<typename OtherScalarType>
AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime> & other)126 inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
127 {
128 m_min = (other.min)().template cast<Scalar>();
129 m_max = (other.max)().template cast<Scalar>();
130 }
131
132 /** \returns \c true if \c *this is approximately equal to \a other, within the precision
133 * determined by \a prec.
134 *
135 * \sa MatrixBase::isApprox() */
136 bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
137 { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
138
139 protected:
140
141 VectorType m_min, m_max;
142 };
143
144 template<typename Scalar,int AmbiantDim>
squaredExteriorDistance(const VectorType & p)145 inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
146 {
147 Scalar dist2(0);
148 Scalar aux;
149 for (int k=0; k<dim(); ++k)
150 {
151 if ((aux = (p[k]-m_min[k]))<Scalar(0))
152 dist2 += aux*aux;
153 else if ( (aux = (m_max[k]-p[k]))<Scalar(0))
154 dist2 += aux*aux;
155 }
156 return dist2;
157 }
158
159 } // end namespace Eigen
160