@smake/eigen 1.0.2 → 1.1.1

package/eigen/Eigen/src/Geometry/ParametrizedLine.h

@@ -11,59 +11,58 @@
 #ifndef EIGEN_PARAMETRIZEDLINE_H
 #define EIGEN_PARAMETRIZEDLINE_H
 
-namespace Eigen { 
+// IWYU pragma: private
+#include "./InternalHeaderCheck.h"
+
+namespace Eigen {
 
 /** \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$, \f$ t \in \mathbf{R} \f$.
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
-  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-class ParametrizedLine
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
-  enum {
-    AmbientDimAtCompileTime = _AmbientDim,
-    Options = _Options
-  };
-  typedef _Scalar Scalar;
+ *
+ * \class ParametrizedLine
+ *
+ * \brief A parametrized line
+ *
+ * A parametrized line is defined by an origin point \f$ \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$, \f$ t \in \mathbf{R} \f$.
+ *
+ * \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 {
+ public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_, AmbientDim_)
+  enum { AmbientDimAtCompileTime = AmbientDim_, Options = Options_ };
+  typedef Scalar_ Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
+  typedef Eigen::Index Index;  ///< \deprecated since Eigen 3.3
+  typedef Matrix<Scalar, AmbientDimAtCompileTime, 1, Options> VectorType;
 
   /** Default constructor without initialization */
   EIGEN_DEVICE_FUNC inline ParametrizedLine() {}
-  
-  template<int OtherOptions>
-  EIGEN_DEVICE_FUNC ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
-   : m_origin(other.origin()), m_direction(other.direction())
-  {}
+
+  template <int OtherOptions>
+  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 */
+   * of the ambient space */
   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.
-    */
+   * \warning the vector direction is assumed to be normalized.
+   */
   EIGEN_DEVICE_FUNC ParametrizedLine(const VectorType& origin, const VectorType& direction)
-    : m_origin(origin), m_direction(direction) {}
+      : m_origin(origin), m_direction(direction) {}
 
   template <int OtherOptions>
-  EIGEN_DEVICE_FUNC 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. */
-  EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
-  { return ParametrizedLine(p0, (p1-p0).normalized()); }
+  EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1) {
+    return ParametrizedLine(p0, (p1 - p0).normalized());
+  }
 
   EIGEN_DEVICE_FUNC ~ParametrizedLine() {}
 
@@ -77,119 +76,157 @@ public:
   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()
-    */
-  EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const
-  {
+   * \sa distance()
+   */
+  EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const {
     VectorType diff = p - origin();
     return (diff - direction().dot(diff) * direction()).squaredNorm();
   }
   /** \returns the distance of a point \a p to its projection onto the line \c *this.
-    * \sa squaredDistance()
-    */
-  EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); }
+   * \sa squaredDistance()
+   */
+  EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const {
+    EIGEN_USING_STD(sqrt) return sqrt(squaredDistance(p));
+  }
 
   /** \returns the projection of a point \a p onto the line \c *this. */
-  EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const
-  { return origin() + direction().dot(p-origin()) * direction(); }
+  EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const {
+    return origin() + direction().dot(p - origin()) * direction();
+  }
 
   EIGEN_DEVICE_FUNC VectorType pointAt(const Scalar& t) const;
-  
+
   template <int OtherOptions>
-  EIGEN_DEVICE_FUNC Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
- 
+  EIGEN_DEVICE_FUNC Scalar
+  intersectionParameter(const Hyperplane<Scalar_, AmbientDim_, OtherOptions>& hyperplane) const;
+
   template <int OtherOptions>
-  EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
-  
+  EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<Scalar_, AmbientDim_, OtherOptions>& hyperplane) const;
+
   template <int OtherOptions>
-  EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+  EIGEN_DEVICE_FUNC VectorType
+  intersectionPoint(const Hyperplane<Scalar_, AmbientDim_, OtherOptions>& hyperplane) const;
+
+  /** 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>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<ParametrizedLine,
-           ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
-  {
-    return typename internal::cast_return_type<ParametrizedLine,
-                    ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
+   *
+   * 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<ParametrizedLine,
+                                          ParametrizedLine<NewScalarType, AmbientDimAtCompileTime, Options> >::type
+      cast() const {
+    return typename internal::cast_return_type<
+        ParametrizedLine, ParametrizedLine<NewScalarType, AmbientDimAtCompileTime, Options> >::type(*this);
   }
 
   /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType,int OtherOptions>
-  EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
-  {
+  template <typename OtherScalarType, int OtherOptions>
+  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>();
   }
 
   /** \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 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:
+   * determined by \a prec.
+   *
+   * \sa MatrixBase::isApprox() */
+  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:
   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, int _Options>
+ *
+ * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
+ */
+template <typename Scalar_, int AmbientDim_, int Options_>
 template <int OtherOptions>
-EIGEN_DEVICE_FUNC 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();
-  origin() = -hyperplane.normal()*hyperplane.offset();
+  origin() = -hyperplane.normal() * hyperplane.offset();
 }
 
 /** \returns the point at \a t along this line
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
-EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
-ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
-{
-  return origin() + (direction()*t); 
+ */
+template <typename Scalar_, int AmbientDim_, int Options_>
+EIGEN_DEVICE_FUNC inline typename ParametrizedLine<Scalar_, AmbientDim_, Options_>::VectorType
+ParametrizedLine<Scalar_, AmbientDim_, Options_>::pointAt(const Scalar_& t) const {
+  return origin() + (direction() * t);
 }
 
 /** \returns the parameter value of the intersection between \c *this and the given \a hyperplane
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
+ */
+template <typename Scalar_, int AmbientDim_, int Options_>
 template <int OtherOptions>
-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());
+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());
 }
 
-
 /** \deprecated use intersectionParameter()
-  * \returns the parameter value of the intersection between \c *this and the given \a hyperplane
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
+ * \returns the parameter value of the intersection between \c *this and the given \a hyperplane
+ */
+template <typename Scalar_, int AmbientDim_, int Options_>
 template <int OtherOptions>
-EIGEN_DEVICE_FUNC 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);
 }
 
 /** \returns the point of the intersection between \c *this and the given hyperplane
-  */
-template <typename _Scalar, int _AmbientDim, int _Options>
+ */
+template <typename Scalar_, int AmbientDim_, int Options_>
 template <int OtherOptions>
-EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
-ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
-{
+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));
 }
 
-} // end namespace Eigen
+}  // end namespace Eigen
 
-#endif // EIGEN_PARAMETRIZEDLINE_H
+#endif  // EIGEN_PARAMETRIZEDLINE_H