eigen_matrix_addons.h

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/****************************************************************************
* VCGLib                                                            o o     *
* Visual and Computer Graphics Library                            o     o   *
*                                                                _   O  _   *
* Copyright(C) 2004                                                \/)\/    *
* Visual Computing Lab                                            /\/|      *
* ISTI - Italian National Research Council                           |      *
*                                                                    \      *
* All rights reserved.                                                      *
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* This program is free software; 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.                                       *
*                                                                           *
* This program 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 General Public License (http://www.gnu.org/licenses/gpl.txt)          *
* for more details.                                                         *
*                                                                           *
****************************************************************************/

#ifdef __GNUC__
#warning You are including deprecated math stuff
#endif

enum {Dimension = SizeAtCompileTime};
typedef typename ei_to_vcgtype<Matrix>::type EquivVcgType;
typedef vcg::VoidType   ParamType;
typedef Matrix          PointType;
using Base::V;

// automatic conversion to similar vcg types
// the otherway round is implicit because they inherits this Matrix tyoe
operator EquivVcgType& () { return *reinterpret_cast<EquivVcgType*>(this); }
operator const EquivVcgType& () const { return *reinterpret_cast<const EquivVcgType*>(this); }


// FIXME the Point3/Point4 specialization were only for same sizes ??
// while the Point version was generic like this one
template<typename OtherDerived>
inline void Import(const MatrixBase<OtherDerived>& b)
{
        ei_import_selector<Matrix,OtherDerived>::run(*this,b.derived());
}

template<typename OtherDerived>
static inline Matrix Construct(const MatrixBase<OtherDerived>& b)
{ Matrix p; p.Import(b); return p; }

template<typename OtherDerived>
inline void ImportHomo(const MatrixBase<OtherDerived>& b)
{
        EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix);
        EIGEN_STATIC_ASSERT_FIXED_SIZE(Matrix);
        EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,SizeAtCompileTime-1);

        this->template start<SizeAtCompileTime-1> = b;
        data()[SizeAtCompileTime-1] = Scalar(1.0);
}

template<typename OtherDerived>
static inline Matrix ConstructHomo(const MatrixBase<OtherDerived>& b)
{ Matrix p; p.ImportHomo(b); return p; }

inline const Scalar &X() const { return data()[0]; }
inline const Scalar &Y() const { return data()[1]; }
inline const Scalar &Z() const { assert(SizeAtCompileTime>2); return data()[2]; }
inline Scalar &X() { return data()[0]; }
inline Scalar &Y() { return data()[1]; }
inline Scalar &Z() { assert(SizeAtCompileTime>2); return data()[2]; }

inline Scalar& W() { return data()[SizeAtCompileTime-1]; }
inline const Scalar& W() const { return data()[SizeAtCompileTime-1]; }

EIGEN_DEPRECATED Scalar* V() { return data(); }
EIGEN_DEPRECATED const Scalar* V() const { return data(); }

// overloaded to return a const reference
EIGEN_DEPRECATED inline const Scalar& V( const int i ) const
{
        assert(i>=0 && i<SizeAtCompileTime);
        return data()[i];
}

//--------------------------------------------------------------------------------
// SPACE
//--------------------------------------------------------------------------------

inline Matrix LocalToGlobal(ParamType p) const { return *this; }
inline ParamType GlobalToLocal(PointType /*p*/) const { return ParamType(); }

void ToPolar(Scalar &ro, Scalar &theta, Scalar &phi) const
{
        EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix,3);
        ro = this->norm();
        theta = (Scalar)atan2(data()[2], data()[0]);
        phi   = (Scalar)asin(data()[1]/ro);
}

void FromPolar(const Scalar &ro, const Scalar &theta, const Scalar &phi)
{
        EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix,3);
        data()[0]= ro*ei_cos(theta)*ei_cos(phi);
        data()[1]= ro*ei_sin(phi);
        data()[2]= ro*ei_sin(theta)*ei_cos(phi);
}