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00039 template <typename _Scalar, int _AmbientDim>
00040 class AlignedBox
00041 {
00042 public:
00043 EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
00044 enum { AmbientDimAtCompileTime = _AmbientDim };
00045 typedef _Scalar Scalar;
00046 typedef typename NumTraits<Scalar>::Real RealScalar;
00047 typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
00048
00050 inline explicit AlignedBox()
00051 { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
00052
00054 inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
00055 { setNull(); }
00056
00058 inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
00059
00061 inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
00062
00063 ~AlignedBox() {}
00064
00066 inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
00067
00069 inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
00070
00072 inline void setNull()
00073 {
00074 m_min.setConstant( std::numeric_limits<Scalar>::max());
00075 m_max.setConstant(-std::numeric_limits<Scalar>::max());
00076 }
00077
00079 inline const VectorType& min() const { return m_min; }
00081 inline VectorType& min() { return m_min; }
00083 inline const VectorType& max() const { return m_max; }
00085 inline VectorType& max() { return m_max; }
00086
00088 inline bool contains(const VectorType& p) const
00089 { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
00090
00092 inline bool contains(const AlignedBox& b) const
00093 { return (m_min.cwise()<=b.min()).all() && (b.max().cwise()<=m_max).all(); }
00094
00096 inline AlignedBox& extend(const VectorType& p)
00097 { m_min = m_min.cwise().min(p); m_max = m_max.cwise().max(p); return *this; }
00098
00100 inline AlignedBox& extend(const AlignedBox& b)
00101 { m_min = m_min.cwise().min(b.m_min); m_max = m_max.cwise().max(b.m_max); return *this; }
00102
00104 inline AlignedBox& clamp(const AlignedBox& b)
00105 { m_min = m_min.cwise().max(b.m_min); m_max = m_max.cwise().min(b.m_max); return *this; }
00106
00108 inline AlignedBox& translate(const VectorType& t)
00109 { m_min += t; m_max += t; return *this; }
00110
00115 inline Scalar squaredExteriorDistance(const VectorType& p) const;
00116
00121 inline Scalar exteriorDistance(const VectorType& p) const
00122 { return ei_sqrt(squaredExteriorDistance(p)); }
00123
00129 template<typename NewScalarType>
00130 inline typename internal::cast_return_type<AlignedBox,
00131 AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
00132 {
00133 return typename internal::cast_return_type<AlignedBox,
00134 AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
00135 }
00136
00138 template<typename OtherScalarType>
00139 inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
00140 {
00141 m_min = other.min().template cast<Scalar>();
00142 m_max = other.max().template cast<Scalar>();
00143 }
00144
00149 bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
00150 { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
00151
00152 protected:
00153
00154 VectorType m_min, m_max;
00155 };
00156
00157 template<typename Scalar,int AmbiantDim>
00158 inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
00159 {
00160 Scalar dist2 = 0.;
00161 Scalar aux;
00162 for (int k=0; k<dim(); ++k)
00163 {
00164 if ((aux = (p[k]-m_min[k]))<0.)
00165 dist2 += aux*aux;
00166 else if ( (aux = (m_max[k]-p[k]))<0. )
00167 dist2 += aux*aux;
00168 }
00169 return dist2;
00170 }