Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/Eigen/src/Eigen2Support/Geometry/AlignedBox.h b/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
new file mode 100644
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+++ b/Eigen/src/Eigen2Support/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 <g.gael@free.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/.
+
+// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
+
+namespace Eigen {
+
+/** \geometry_module \ingroup Geometry_Module
+ * \nonstableyet
+ *
+ * \class AlignedBox
+ *
+ * \brief An axis aligned box
+ *
+ * \param _Scalar the type of the scalar coefficients
+ * \param _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.
+ */
+template <typename _Scalar, int _AmbientDim>
+class AlignedBox
+{
+public:
+EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
+ enum { AmbientDimAtCompileTime = _AmbientDim };
+ typedef _Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+
+ /** Default constructor initializing a null box. */
+ inline AlignedBox()
+ { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
+
+ /** Constructs a null box with \a _dim the dimension of the ambient space. */
+ inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
+ { setNull(); }
+
+ /** Constructs a box with extremities \a _min and \a _max. */
+ inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
+
+ /** Constructs a box containing a single point \a p. */
+ inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
+
+ ~AlignedBox() {}
+
+ /** \returns the dimension in which the box holds */
+ inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
+
+ /** \returns true if the box is null, i.e, empty. */
+ inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
+
+ /** Makes \c *this a null/empty box. */
+ inline void setNull()
+ {
+ m_min.setConstant( (std::numeric_limits<Scalar>::max)());
+ m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
+ }
+
+ /** \returns the minimal corner */
+ inline const VectorType& (min)() const { return m_min; }
+ /** \returns a non const reference to the minimal corner */
+ inline VectorType& (min)() { return m_min; }
+ /** \returns the maximal corner */
+ inline const VectorType& (max)() const { return m_max; }
+ /** \returns a non const reference to the maximal corner */
+ inline VectorType& (max)() { return m_max; }
+
+ /** \returns true if the point \a p is inside the box \c *this. */
+ inline bool contains(const VectorType& p) const
+ { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
+
+ /** \returns true if the box \a b is entirely inside the box \c *this. */
+ inline bool contains(const AlignedBox& b) const
+ { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
+
+ /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
+ inline AlignedBox& extend(const VectorType& p)
+ { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
+
+ /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
+ inline AlignedBox& extend(const AlignedBox& b)
+ { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
+
+ /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
+ inline AlignedBox& clamp(const AlignedBox& b)
+ { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
+
+ /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
+ inline AlignedBox& translate(const VectorType& t)
+ { m_min += t; m_max += t; return *this; }
+
+ /** \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()
+ */
+ inline Scalar squaredExteriorDistance(const VectorType& p) 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()
+ */
+ inline Scalar exteriorDistance(const VectorType& p) const
+ { return ei_sqrt(squaredExteriorDistance(p)); }
+
+ /** \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<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>
+ 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() */
+ bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) 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 AmbiantDim>
+inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
+{
+ Scalar dist2(0);
+ Scalar aux;
+ for (int k=0; k<dim(); ++k)
+ {
+ if ((aux = (p[k]-m_min[k]))<Scalar(0))
+ dist2 += aux*aux;
+ else if ( (aux = (m_max[k]-p[k]))<Scalar(0))
+ dist2 += aux*aux;
+ }
+ return dist2;
+}
+
+} // end namespace Eigen