diff options
Diffstat (limited to 'eigen/Eigen/src/Geometry/Hyperplane.h')
| -rw-r--r-- | eigen/Eigen/src/Geometry/Hyperplane.h | 64 |
1 files changed, 33 insertions, 31 deletions
diff --git a/eigen/Eigen/src/Geometry/Hyperplane.h b/eigen/Eigen/src/Geometry/Hyperplane.h index 00b7c43..05929b2 100644 --- a/eigen/Eigen/src/Geometry/Hyperplane.h +++ b/eigen/Eigen/src/Geometry/Hyperplane.h @@ -22,8 +22,8 @@ namespace Eigen { * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n. * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane. * - * \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. + * \tparam _Scalar the scalar type, i.e., the type of the coefficients + * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. * Notice that the dimension of the hyperplane is _AmbientDim-1. * * This class represents an hyperplane as the zero set of the implicit equation @@ -41,7 +41,7 @@ public: }; typedef _Scalar Scalar; typedef typename NumTraits<Scalar>::Real RealScalar; - typedef DenseIndex Index; + typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3 typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType; typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic ? Dynamic @@ -50,21 +50,21 @@ public: typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType; /** Default constructor without initialization */ - inline Hyperplane() {} + EIGEN_DEVICE_FUNC inline Hyperplane() {} template<int OtherOptions> - Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other) + EIGEN_DEVICE_FUNC 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 */ - inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {} + EIGEN_DEVICE_FUNC inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {} /** 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. */ - inline Hyperplane(const VectorType& n, const VectorType& e) + EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const VectorType& e) : m_coeffs(n.size()+1) { normal() = n; @@ -75,7 +75,7 @@ public: * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$. * \warning the vector normal is assumed to be normalized. */ - inline Hyperplane(const VectorType& n, const Scalar& d) + EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const Scalar& d) : m_coeffs(n.size()+1) { normal() = n; @@ -85,7 +85,7 @@ public: /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made. */ - static inline Hyperplane Through(const VectorType& p0, const VectorType& p1) + EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1) { Hyperplane result(p0.size()); result.normal() = (p1 - p0).unitOrthogonal(); @@ -96,7 +96,7 @@ public: /** Constructs a hyperplane passing through the three points. The dimension of the ambient space * is required to be exactly 3. */ - static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2) + EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2) { EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3) Hyperplane result(p0.size()); @@ -120,19 +120,19 @@ public: * so an arbitrary choice is made. */ // FIXME to be consitent with the rest this could be implemented as a static Through function ?? - explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized) + EIGEN_DEVICE_FUNC explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized) { normal() = parametrized.direction().unitOrthogonal(); offset() = -parametrized.origin().dot(normal()); } - ~Hyperplane() {} + EIGEN_DEVICE_FUNC ~Hyperplane() {} /** \returns the dimension in which the plane holds */ - inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); } + EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); } /** normalizes \c *this */ - void normalize(void) + EIGEN_DEVICE_FUNC void normalize(void) { m_coeffs /= normal().norm(); } @@ -140,45 +140,45 @@ public: /** \returns the signed distance between the plane \c *this and a point \a p. * \sa absDistance() */ - inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); } + EIGEN_DEVICE_FUNC inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); } /** \returns the absolute distance between the plane \c *this and a point \a p. * \sa signedDistance() */ - inline Scalar absDistance(const VectorType& p) const { using std::abs; return abs(signedDistance(p)); } + EIGEN_DEVICE_FUNC inline Scalar absDistance(const VectorType& p) const { return numext::abs(signedDistance(p)); } /** \returns the projection of a point \a p onto the plane \c *this. */ - inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); } + EIGEN_DEVICE_FUNC inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); } /** \returns a constant reference to the unit normal vector of the plane, which corresponds * to the linear part of the implicit equation. */ - inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); } + EIGEN_DEVICE_FUNC inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); } /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds * to the linear part of the implicit equation. */ - inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); } + EIGEN_DEVICE_FUNC inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); } /** \returns the distance to the origin, which is also the "constant term" of the implicit equation * \warning the vector normal is assumed to be normalized. */ - inline const Scalar& offset() const { return m_coeffs.coeff(dim()); } + EIGEN_DEVICE_FUNC inline const Scalar& offset() const { return m_coeffs.coeff(dim()); } /** \returns a non-constant reference to the distance to the origin, which is also the constant part * of the implicit equation */ - inline Scalar& offset() { return m_coeffs(dim()); } + EIGEN_DEVICE_FUNC inline Scalar& offset() { return m_coeffs(dim()); } /** \returns a constant reference to 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 Coefficients& coeffs() const { return m_coeffs; } + EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; } /** \returns a non-constant reference to the coefficients c_i of the plane equation: * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$ */ - inline Coefficients& coeffs() { return m_coeffs; } + EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; } /** \returns the intersection of *this with \a other. * @@ -186,16 +186,15 @@ public: * * \note If \a other is approximately parallel to *this, this method will return any point on *this. */ - VectorType intersection(const Hyperplane& other) const + EIGEN_DEVICE_FUNC VectorType intersection(const Hyperplane& other) const { - using std::abs; EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2) Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0); // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests // whether the two lines are approximately parallel. if(internal::isMuchSmallerThan(det, Scalar(1))) { // special case where the two lines are approximately parallel. Pick any point on the first line. - if(abs(coeffs().coeff(1))>abs(coeffs().coeff(0))) + if(numext::abs(coeffs().coeff(1))>numext::abs(coeffs().coeff(0))) return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0)); else return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0)); @@ -215,10 +214,13 @@ public: * or a more generic #Affine transformation. The default is #Affine. */ template<typename XprType> - inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine) + EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine) { if (traits==Affine) + { normal() = mat.inverse().transpose() * normal(); + m_coeffs /= normal().norm(); + } else if (traits==Isometry) normal() = mat * normal(); else @@ -236,7 +238,7 @@ public: * Other kind of transformations are not supported. */ template<int TrOptions> - inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t, + EIGEN_DEVICE_FUNC inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t, TransformTraits traits = Affine) { transform(t.linear(), traits); @@ -250,7 +252,7 @@ public: * then this function smartly returns a const reference to \c *this. */ template<typename NewScalarType> - inline typename internal::cast_return_type<Hyperplane, + EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Hyperplane, Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const { return typename internal::cast_return_type<Hyperplane, @@ -259,7 +261,7 @@ public: /** Copy constructor with scalar type conversion */ template<typename OtherScalarType,int OtherOptions> - inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other) + EIGEN_DEVICE_FUNC 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 @@ -267,7 +269,7 @@ public: * * \sa MatrixBase::isApprox() */ template<int OtherOptions> - bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const + EIGEN_DEVICE_FUNC bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const { return m_coeffs.isApprox(other.m_coeffs, prec); } protected: |