11#ifndef EIGEN_HYPERPLANE_H
12#define EIGEN_HYPERPLANE_H
33template <
typename _Scalar,
int _AmbientDim,
int _Options>
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
Dynamic ?
Dynamic : _AmbientDim+1)
39 AmbientDimAtCompileTime = _AmbientDim,
42 typedef _Scalar Scalar;
43 typedef typename NumTraits<Scalar>::Real RealScalar;
55 template<
int OtherOptions>
68 : m_coeffs(n.size()+1)
79 : m_coeffs(n.size()+1)
91 result.
normal() = (p1 - p0).unitOrthogonal();
101 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(
VectorType, 3)
104 result.
normal() = v0.cross(v1);
105 RealScalar norm = result.
normal().norm();
125 normal() = parametrized.direction().unitOrthogonal();
132 EIGEN_DEVICE_FUNC
inline Index dim()
const {
return AmbientDimAtCompileTime==
Dynamic ? m_coeffs.size()-1 :
Index(AmbientDimAtCompileTime); }
137 m_coeffs /=
normal().norm();
167 EIGEN_DEVICE_FUNC
inline const Scalar&
offset()
const {
return m_coeffs.
coeff(
dim()); }
171 EIGEN_DEVICE_FUNC
inline Scalar&
offset() {
return m_coeffs(
dim()); }
191 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(
VectorType, 2)
195 if(internal::isMuchSmallerThan(det, Scalar(1)))
197 if(numext::abs(
coeffs().coeff(1))>numext::abs(
coeffs().coeff(0)))
204 Scalar invdet = Scalar(1) / det;
216 template<
typename XprType>
222 m_coeffs /=
normal().norm();
228 eigen_assert(0 &&
"invalid traits value in Hyperplane::transform()");
240 template<
int TrOptions>
254 template<
typename NewScalarType>
255 EIGEN_DEVICE_FUNC
inline typename internal::cast_return_type<
Hyperplane,
258 return typename internal::cast_return_type<
Hyperplane,
263 template<
typename OtherScalarType,
int OtherOptions>
265 { m_coeffs = other.
coeffs().template cast<Scalar>(); }
271 template<
int OtherOptions>
273 {
return m_coeffs.isApprox(other.m_coeffs, prec); }
277 Coefficients m_coeffs;
Expression of a fixed-size or dynamic-size block.
Definition: Block.h:105
A hyperplane.
Definition: Hyperplane.h:35
Scalar & offset()
Definition: Hyperplane.h:171
Hyperplane(const VectorType &n, const VectorType &e)
Definition: Hyperplane.h:67
Index dim() const
Definition: Hyperplane.h:132
static Hyperplane Through(const VectorType &p0, const VectorType &p1, const VectorType &p2)
Definition: Hyperplane.h:99
Scalar absDistance(const VectorType &p) const
Definition: Hyperplane.h:148
VectorType intersection(const Hyperplane &other) const
Definition: Hyperplane.h:189
Hyperplane & transform(const Transform< Scalar, AmbientDimAtCompileTime, Affine, TrOptions > &t, TransformTraits traits=Affine)
Definition: Hyperplane.h:241
NormalReturnType normal()
Definition: Hyperplane.h:162
Eigen::Index Index
Definition: Hyperplane.h:44
const Coefficients & coeffs() const
Definition: Hyperplane.h:176
Hyperplane(Index _dim)
Definition: Hyperplane.h:62
Hyperplane(const VectorType &n, const Scalar &d)
Definition: Hyperplane.h:78
static Hyperplane Through(const VectorType &p0, const VectorType &p1)
Definition: Hyperplane.h:88
VectorType projection(const VectorType &p) const
Definition: Hyperplane.h:152
Hyperplane()
Definition: Hyperplane.h:53
Hyperplane & transform(const MatrixBase< XprType > &mat, TransformTraits traits=Affine)
Definition: Hyperplane.h:217
Scalar signedDistance(const VectorType &p) const
Definition: Hyperplane.h:143
ConstNormalReturnType normal() const
Definition: Hyperplane.h:157
Coefficients & coeffs()
Definition: Hyperplane.h:181
Hyperplane(const ParametrizedLine< Scalar, AmbientDimAtCompileTime > ¶metrized)
Definition: Hyperplane.h:123
internal::cast_return_type< Hyperplane, Hyperplane< NewScalarType, AmbientDimAtCompileTime, Options > >::type cast() const
Definition: Hyperplane.h:256
bool isApprox(const Hyperplane< Scalar, AmbientDimAtCompileTime, OtherOptions > &other, const typename NumTraits< Scalar >::Real &prec=NumTraits< Scalar >::dummy_precision()) const
Definition: Hyperplane.h:272
Hyperplane(const Hyperplane< OtherScalarType, AmbientDimAtCompileTime, OtherOptions > &other)
Definition: Hyperplane.h:264
void normalize(void)
Definition: Hyperplane.h:135
const Scalar & offset() const
Definition: Hyperplane.h:167
Two-sided Jacobi SVD decomposition of a rectangular matrix.
Definition: JacobiSVD.h:490
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:50
const Inverse< Derived > inverse() const
Definition: InverseImpl.h:348
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:180
A parametrized line.
Definition: ParametrizedLine.h:31
const Scalar & coeff(Index rowId, Index colId) const
Definition: PlainObjectBase.h:152
const MatrixVType & matrixV() const
Definition: SVDBase.h:117
TransformTraits
Definition: Constants.h:455
@ ComputeFullV
Definition: Constants.h:397
@ Affine
Definition: Constants.h:460
@ Isometry
Definition: Constants.h:457
Namespace containing all symbols from the Eigen library.
Definition: Core:141
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
Definition: Meta.h:74
const int Dynamic
Definition: Constants.h:22
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
Definition: NumTraits.h:233