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data/vendor/Eigen/src/Geometry/AlignedBox.h

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+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+// Function void Eigen::AlignedBox::transform(const Transform& transform)
+// is provided under the following license agreement:
+//
+// Software License Agreement (BSD License)
+//
+// Copyright (c) 2011-2014, Willow Garage, Inc.
+// Copyright (c) 2014-2015, Open Source Robotics Foundation
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of Open Source Robotics Foundation nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef EIGEN_ALIGNEDBOX_H
+#define EIGEN_ALIGNEDBOX_H
+
+namespace Eigen {
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  *
+  * \class AlignedBox
+  *
+  * \brief An axis aligned box
+  *
+  * \tparam _Scalar the type of the scalar coefficients
+  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *
+  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
+  * \warning The result of most methods is undefined when applied to an empty box. You can check for empty boxes using isEmpty().
+  * \sa alignedboxtypedefs
+  */
+template <typename _Scalar, int _AmbientDim>
+class AlignedBox
+{
+public:
+EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
+  enum { AmbientDimAtCompileTime = _AmbientDim };
+  typedef _Scalar                                   Scalar;
+  typedef NumTraits<Scalar>                         ScalarTraits;
+  typedef Eigen::Index                              Index; ///< \deprecated since Eigen 3.3
+  typedef typename ScalarTraits::Real               RealScalar;
+  typedef typename ScalarTraits::NonInteger         NonInteger;
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1>  VectorType;
+  typedef CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> VectorTypeSum;
+
+  /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
+  enum CornerType
+  {
+    /** 1D names @{ */
+    Min=0, Max=1,
+    /** @} */
+
+    /** Identifier for 2D corner @{ */
+    BottomLeft=0, BottomRight=1,
+    TopLeft=2, TopRight=3,
+    /** @} */
+
+    /** Identifier for 3D corner  @{ */
+    BottomLeftFloor=0, BottomRightFloor=1,
+    TopLeftFloor=2, TopRightFloor=3,
+    BottomLeftCeil=4, BottomRightCeil=5,
+    TopLeftCeil=6, TopRightCeil=7
+    /** @} */
+  };
+
+
+  /** Default constructor initializing a null box. */
+  EIGEN_DEVICE_FUNC inline AlignedBox()
+  { if (EIGEN_CONST_CONDITIONAL(AmbientDimAtCompileTime!=Dynamic)) setEmpty(); }
+
+  /** Constructs a null box with \a _dim the dimension of the ambient space. */
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
+  { setEmpty(); }
+
+  /** Constructs a box with extremities \a _min and \a _max.
+   * \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */
+  template<typename OtherVectorType1, typename OtherVectorType2>
+  EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
+
+  /** Constructs a box containing a single point \a p. */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
+  { }
+
+  EIGEN_DEVICE_FUNC ~AlignedBox() {}
+
+  /** \returns the dimension in which the box holds */
+  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
+
+  /** \deprecated use isEmpty() */
+  EIGEN_DEVICE_FUNC inline bool isNull() const { return isEmpty(); }
+
+  /** \deprecated use setEmpty() */
+  EIGEN_DEVICE_FUNC inline void setNull() { setEmpty(); }
+
+  /** \returns true if the box is empty.
+   * \sa setEmpty */
+  EIGEN_DEVICE_FUNC inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
+
+  /** Makes \c *this an empty box.
+   * \sa isEmpty */
+  EIGEN_DEVICE_FUNC inline void setEmpty()
+  {
+    m_min.setConstant( ScalarTraits::highest() );
+    m_max.setConstant( ScalarTraits::lowest() );
+  }
+
+  /** \returns the minimal corner */
+  EIGEN_DEVICE_FUNC inline const VectorType& (min)() const { return m_min; }
+  /** \returns a non const reference to the minimal corner */
+  EIGEN_DEVICE_FUNC inline VectorType& (min)() { return m_min; }
+  /** \returns the maximal corner */
+  EIGEN_DEVICE_FUNC inline const VectorType& (max)() const { return m_max; }
+  /** \returns a non const reference to the maximal corner */
+  EIGEN_DEVICE_FUNC inline VectorType& (max)() { return m_max; }
+
+  /** \returns the center of the box */
+  EIGEN_DEVICE_FUNC inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient)
+  center() const
+  { return (m_min+m_max)/RealScalar(2); }
+
+  /** \returns the lengths of the sides of the bounding box.
+    * Note that this function does not get the same
+    * result for integral or floating scalar types: see
+    */
+  EIGEN_DEVICE_FUNC inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> sizes() const
+  { return m_max - m_min; }
+
+  /** \returns the volume of the bounding box */
+  EIGEN_DEVICE_FUNC inline Scalar volume() const
+  { return sizes().prod(); }
+
+  /** \returns an expression for the bounding box diagonal vector
+    * if the length of the diagonal is needed: diagonal().norm()
+    * will provide it.
+    */
+  EIGEN_DEVICE_FUNC inline CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> diagonal() const
+  { return sizes(); }
+
+  /** \returns the vertex of the bounding box at the corner defined by
+    * the corner-id corner. It works only for a 1D, 2D or 3D bounding box.
+    * For 1D bounding boxes corners are named by 2 enum constants:
+    * BottomLeft and BottomRight.
+    * For 2D bounding boxes, corners are named by 4 enum constants:
+    * BottomLeft, BottomRight, TopLeft, TopRight.
+    * For 3D bounding boxes, the following names are added:
+    * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
+    */
+  EIGEN_DEVICE_FUNC inline VectorType corner(CornerType corner) const
+  {
+    EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
+
+    VectorType res;
+
+    Index mult = 1;
+    for(Index d=0; d<dim(); ++d)
+    {
+      if( mult & corner ) res[d] = m_max[d];
+      else                res[d] = m_min[d];
+      mult *= 2;
+    }
+    return res;
+  }
+
+  /** \returns a random point inside the bounding box sampled with
+   * a uniform distribution */
+  EIGEN_DEVICE_FUNC inline VectorType sample() const
+  {
+    VectorType r(dim());
+    for(Index d=0; d<dim(); ++d)
+    {
+      if(!ScalarTraits::IsInteger)
+      {
+        r[d] = m_min[d] + (m_max[d]-m_min[d])
+             * internal::random<Scalar>(Scalar(0), Scalar(1));
+      }
+      else
+        r[d] = internal::random(m_min[d], m_max[d]);
+    }
+    return r;
+  }
+
+  /** \returns true if the point \a p is inside the box \c *this. */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline bool contains(const MatrixBase<Derived>& p) const
+  {
+    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
+    return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
+  }
+
+  /** \returns true if the box \a b is entirely inside the box \c *this. */
+  EIGEN_DEVICE_FUNC inline bool contains(const AlignedBox& b) const
+  { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
+
+  /** \returns true if the box \a b is intersecting the box \c *this.
+   * \sa intersection, clamp */
+  EIGEN_DEVICE_FUNC inline bool intersects(const AlignedBox& b) const
+  { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
+
+  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
+   * \sa extend(const AlignedBox&) */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p)
+  {
+    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
+    m_min = m_min.cwiseMin(p_n);
+    m_max = m_max.cwiseMax(p_n);
+    return *this;
+  }
+
+  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
+   * \sa merged, extend(const MatrixBase&) */
+  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b)
+  {
+    m_min = m_min.cwiseMin(b.m_min);
+    m_max = m_max.cwiseMax(b.m_max);
+    return *this;
+  }
+
+  /** Clamps \c *this by the box \a b and returns a reference to \c *this.
+   * \note If the boxes don't intersect, the resulting box is empty.
+   * \sa intersection(), intersects() */
+  EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b)
+  {
+    m_min = m_min.cwiseMax(b.m_min);
+    m_max = m_max.cwiseMin(b.m_max);
+    return *this;
+  }
+
+  /** Returns an AlignedBox that is the intersection of \a b and \c *this
+   * \note If the boxes don't intersect, the resulting box is empty.
+   * \sa intersects(), clamp, contains()  */
+  EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const
+  {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
+
+  /** Returns an AlignedBox that is the union of \a b and \c *this.
+   * \note Merging with an empty box may result in a box bigger than \c *this.
+   * \sa extend(const AlignedBox&) */
+  EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
+  { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
+
+  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
+  {
+    const typename internal::nested_eval<Derived,2>::type t(a_t.derived());
+    m_min += t;
+    m_max += t;
+    return *this;
+  }
+
+  /** \returns a copy of \c *this translated by the vector \a t. */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline AlignedBox translated(const MatrixBase<Derived>& a_t) const
+  {
+    AlignedBox result(m_min, m_max);
+    result.translate(a_t);
+    return result;
+  }
+
+  /** \returns the squared distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
+    */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
+
+  /** \returns the squared distance between the boxes \a b and \c *this,
+    * and zero if the boxes intersect.
+    * \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
+    */
+  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
+
+  /** \returns the distance between the point \a p and the box \c *this,
+    * and zero if \a p is inside the box.
+    * \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)
+    */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
+  { EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
+
+  /** \returns the distance between the boxes \a b and \c *this,
+    * and zero if the boxes intersect.
+    * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
+    */
+  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
+  { EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
+
+  /**
+   * Specialization of transform for pure translation.
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC inline void transform(
+      const typename Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>::TranslationType& translation)
+  {
+    this->translate(translation);
+  }
+
+  /**
+   * Transforms this box by \a transform and recomputes it to
+   * still be an axis-aligned box.
+   *
+   * \note This method is provided under BSD license (see the top of this file).
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform)
+  {
+    // Only Affine and Isometry transforms are currently supported.
+    EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
+
+    // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...)
+    // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
+    //
+    // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
+
+    // two times rotated extent
+    const VectorType rotated_extent_2 = transform.linear().cwiseAbs() * sizes();
+    // two times new center
+    const VectorType rotated_center_2 = transform.linear() * (this->m_max + this->m_min) +
+        Scalar(2) * transform.translation();
+
+    this->m_max = (rotated_center_2 + rotated_extent_2) / Scalar(2);
+    this->m_min = (rotated_center_2 - rotated_extent_2) / Scalar(2);
+  }
+
+  /**
+   * \returns a copy of \c *this transformed by \a transform and recomputed to
+   * still be an axis-aligned box.
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC AlignedBox transformed(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) const
+  {
+    AlignedBox result(m_min, m_max);
+    result.transform(transform);
+    return result;
+  }
+
+  /** \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>
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AlignedBox,
+           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
+  {
+    return typename internal::cast_return_type<AlignedBox,
+                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType>
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
+  {
+    m_min = (other.min)().template cast<Scalar>();
+    m_max = (other.max)().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() */
+  EIGEN_DEVICE_FUNC bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
+  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
+
+protected:
+
+  VectorType m_min, m_max;
+};
+
+
+
+template<typename Scalar,int AmbientDim>
+template<typename Derived>
+EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
+{
+  typename internal::nested_eval<Derived,2*AmbientDim>::type p(a_p.derived());
+  Scalar dist2(0);
+  Scalar aux;
+  for (Index k=0; k<dim(); ++k)
+  {
+    if( m_min[k] > p[k] )
+    {
+      aux = m_min[k] - p[k];
+      dist2 += aux*aux;
+    }
+    else if( p[k] > m_max[k] )
+    {
+      aux = p[k] - m_max[k];
+      dist2 += aux*aux;
+    }
+  }
+  return dist2;
+}
+
+template<typename Scalar,int AmbientDim>
+EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
+{
+  Scalar dist2(0);
+  Scalar aux;
+  for (Index k=0; k<dim(); ++k)
+  {
+    if( m_min[k] > b.m_max[k] )
+    {
+      aux = m_min[k] - b.m_max[k];
+      dist2 += aux*aux;
+    }
+    else if( b.m_min[k] > m_max[k] )
+    {
+      aux = b.m_min[k] - m_max[k];
+      dist2 += aux*aux;
+    }
+  }
+  return dist2;
+}
+
+/** \defgroup alignedboxtypedefs Global aligned box typedefs
+  *
+  * \ingroup Geometry_Module
+  *
+  * Eigen defines several typedef shortcuts for most common aligned box types.
+  *
+  * The general patterns are the following:
+  *
+  * \c AlignedBoxSizeType where \c Size can be \c 1, \c 2,\c 3,\c 4 for fixed size boxes or \c X for dynamic size,
+  * and where \c Type can be \c i for integer, \c f for float, \c d for double.
+  *
+  * For example, \c AlignedBox3d is a fixed-size 3x3 aligned box type of doubles, and \c AlignedBoxXf is a dynamic-size aligned box of floats.
+  *
+  * \sa class AlignedBox
+  */
+
+#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)    \
+/** \ingroup alignedboxtypedefs */                                 \
+typedef AlignedBox<Type, Size>   AlignedBox##SizeSuffix##TypeSuffix;
+
+#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 1, 1) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
+
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int,                  i)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float,                f)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double,               d)
+
+#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
+#undef EIGEN_MAKE_TYPEDEFS
+
+} // end namespace Eigen
+
+#endif // EIGEN_ALIGNEDBOX_H