diff options
Diffstat (limited to 'eigen/Eigen/src/Geometry/ParametrizedLine.h')
| -rw-r--r-- | eigen/Eigen/src/Geometry/ParametrizedLine.h | 99 |
1 files changed, 68 insertions, 31 deletions
diff --git a/eigen/Eigen/src/Geometry/ParametrizedLine.h b/eigen/Eigen/src/Geometry/ParametrizedLine.h index cf3252d..3929ca8 100644 --- a/eigen/Eigen/src/Geometry/ParametrizedLine.h +++ b/eigen/Eigen/src/Geometry/ParametrizedLine.h @@ -23,8 +23,8 @@ namespace Eigen { * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ t \in \mathbf{R} \f$. * - * \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. */ template <typename _Scalar, int _AmbientDim, int _Options> class ParametrizedLine @@ -37,49 +37,49 @@ 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,Options> VectorType; /** Default constructor without initialization */ - inline ParametrizedLine() {} + EIGEN_DEVICE_FUNC inline ParametrizedLine() {} template<int OtherOptions> - ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other) + EIGEN_DEVICE_FUNC 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 */ - inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {} + EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {} /** Initializes a parametrized line of direction \a direction and origin \a origin. * \warning the vector direction is assumed to be normalized. */ - ParametrizedLine(const VectorType& origin, const VectorType& direction) + EIGEN_DEVICE_FUNC ParametrizedLine(const VectorType& origin, const VectorType& direction) : m_origin(origin), m_direction(direction) {} template <int OtherOptions> - explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane); + EIGEN_DEVICE_FUNC 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) + EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1) { return ParametrizedLine(p0, (p1-p0).normalized()); } - ~ParametrizedLine() {} + EIGEN_DEVICE_FUNC ~ParametrizedLine() {} /** \returns the dimension in which the line holds */ - inline Index dim() const { return m_direction.size(); } + EIGEN_DEVICE_FUNC inline Index dim() const { return m_direction.size(); } - const VectorType& origin() const { return m_origin; } - VectorType& origin() { return m_origin; } + EIGEN_DEVICE_FUNC const VectorType& origin() const { return m_origin; } + EIGEN_DEVICE_FUNC VectorType& origin() { return m_origin; } - const VectorType& direction() const { return m_direction; } - VectorType& direction() { return m_direction; } + EIGEN_DEVICE_FUNC const VectorType& direction() const { return m_direction; } + EIGEN_DEVICE_FUNC VectorType& direction() { return m_direction; } /** \returns the squared distance of a point \a p to its projection onto the line \c *this. * \sa distance() */ - RealScalar squaredDistance(const VectorType& p) const + EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const { VectorType diff = p - origin(); return (diff - direction().dot(diff) * direction()).squaredNorm(); @@ -87,30 +87,67 @@ public: /** \returns the distance of a point \a p to its projection onto the line \c *this. * \sa squaredDistance() */ - RealScalar distance(const VectorType& p) const { using std::sqrt; return sqrt(squaredDistance(p)); } + EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); } /** \returns the projection of a point \a p onto the line \c *this. */ - VectorType projection(const VectorType& p) const + EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const { return origin() + direction().dot(p-origin()) * direction(); } - VectorType pointAt(const Scalar& t) const; + EIGEN_DEVICE_FUNC VectorType pointAt(const Scalar& t) const; template <int OtherOptions> - Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; + EIGEN_DEVICE_FUNC Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; template <int OtherOptions> - Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; + EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; template <int OtherOptions> - VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; + EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const; - /** \returns \c *this with scalar type casted to \a NewScalarType + /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this. + * + * \param mat the Dim x Dim transformation matrix + * \param traits specifies whether the matrix \a mat represents an #Isometry + * or a more generic #Affine transformation. The default is #Affine. + */ + template<typename XprType> + EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine) + { + if (traits==Affine) + direction() = (mat * direction()).normalized(); + else if (traits==Isometry) + direction() = mat * direction(); + else + { + eigen_assert(0 && "invalid traits value in ParametrizedLine::transform()"); + } + origin() = mat * origin(); + return *this; + } + + /** Applies the transformation \a t to \c *this and returns a reference to \c *this. + * + * \param t the transformation of dimension Dim + * \param traits specifies whether the transformation \a t represents an #Isometry + * or a more generic #Affine transformation. The default is #Affine. + * Other kind of transformations are not supported. + */ + template<int TrOptions> + EIGEN_DEVICE_FUNC inline ParametrizedLine& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t, + TransformTraits traits = Affine) + { + transform(t.linear(), traits); + origin() += t.translation(); + return *this; + } + +/** \returns \c *this with scalar type casted to \a NewScalarType * * Note that if \a NewScalarType is equal to the current scalar type of \c *this * then this function smartly returns a const reference to \c *this. */ template<typename NewScalarType> - inline typename internal::cast_return_type<ParametrizedLine, + EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<ParametrizedLine, ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const { return typename internal::cast_return_type<ParametrizedLine, @@ -119,7 +156,7 @@ public: /** Copy constructor with scalar type conversion */ template<typename OtherScalarType,int OtherOptions> - inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other) + EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other) { m_origin = other.origin().template cast<Scalar>(); m_direction = other.direction().template cast<Scalar>(); @@ -129,7 +166,7 @@ public: * determined by \a prec. * * \sa MatrixBase::isApprox() */ - bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const + EIGEN_DEVICE_FUNC bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); } protected: @@ -143,7 +180,7 @@ protected: */ template <typename _Scalar, int _AmbientDim, int _Options> template <int OtherOptions> -inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane) +EIGEN_DEVICE_FUNC inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane) { EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2) direction() = hyperplane.normal().unitOrthogonal(); @@ -153,7 +190,7 @@ inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const H /** \returns the point at \a t along this line */ template <typename _Scalar, int _AmbientDim, int _Options> -inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType +EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const { return origin() + (direction()*t); @@ -163,7 +200,7 @@ ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const */ template <typename _Scalar, int _AmbientDim, int _Options> template <int OtherOptions> -inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const +EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const { return -(hyperplane.offset()+hyperplane.normal().dot(origin())) / hyperplane.normal().dot(direction()); @@ -175,7 +212,7 @@ inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPara */ template <typename _Scalar, int _AmbientDim, int _Options> template <int OtherOptions> -inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const +EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const { return intersectionParameter(hyperplane); } @@ -184,7 +221,7 @@ inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(con */ template <typename _Scalar, int _AmbientDim, int _Options> template <int OtherOptions> -inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType +EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const { return pointAt(intersectionParameter(hyperplane)); |