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Diffstat (limited to 'extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h')
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diff --git a/extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h b/extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h new file mode 100644 index 00000000000..2b990d084f0 --- /dev/null +++ b/extern/Eigen2/Eigen/src/Geometry/ParametrizedLine.h @@ -0,0 +1,155 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. Eigen itself is part of the KDE project. +// +// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> +// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com> +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see <http://www.gnu.org/licenses/>. + +#ifndef EIGEN_PARAMETRIZEDLINE_H +#define EIGEN_PARAMETRIZEDLINE_H + +/** \geometry_module \ingroup Geometry_Module + * + * \class ParametrizedLine + * + * \brief A parametrized line + * + * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit + * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to + * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ l \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. + */ +template <typename _Scalar, int _AmbientDim> +class ParametrizedLine +{ +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; + + /** Default constructor without initialization */ + inline explicit ParametrizedLine() {} + + /** Constructs a dynamic-size line with \a _dim the dimension + * of the ambient space */ + inline explicit ParametrizedLine(int _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) + : m_origin(origin), m_direction(direction) {} + + explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane); + + /** Constructs a parametrized line going from \a p0 to \a p1. */ + static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1) + { return ParametrizedLine(p0, (p1-p0).normalized()); } + + ~ParametrizedLine() {} + + /** \returns the dimension in which the line holds */ + inline int dim() const { return m_direction.size(); } + + const VectorType& origin() const { return m_origin; } + VectorType& origin() { return m_origin; } + + const VectorType& direction() const { return m_direction; } + 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 + { + VectorType diff = p-origin(); + return (diff - diff.dot(direction())* direction()).squaredNorm(); + } + /** \returns the distance of a point \a p to its projection onto the line \c *this. + * \sa squaredDistance() + */ + RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); } + + /** \returns the projection of a point \a p onto the line \c *this. */ + VectorType projection(const VectorType& p) const + { return origin() + (p-origin()).dot(direction()) * direction(); } + + Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane); + + /** \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 ei_cast_return_type<ParametrizedLine, + ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const + { + return typename ei_cast_return_type<ParametrizedLine, + ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this); + } + + /** Copy constructor with scalar type conversion */ + template<typename OtherScalarType> + inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime>& other) + { + m_origin = other.origin().template cast<Scalar>(); + m_direction = other.direction().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 ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const + { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); } + +protected: + + VectorType m_origin, m_direction; +}; + +/** Constructs a parametrized line from a 2D hyperplane + * + * \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) +{ + EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2) + direction() = hyperplane.normal().unitOrthogonal(); + origin() = -hyperplane.normal()*hyperplane.offset(); +} + +/** \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) +{ + return -(hyperplane.offset()+origin().dot(hyperplane.normal())) + /(direction().dot(hyperplane.normal())); +} + +#endif // EIGEN_PARAMETRIZEDLINE_H |