Axis-Aligned bounding box in 2d. More...

#include <BoundingBox.h>

Public Types
enum	{ AmbientDimAtCompileTime = 2 }

enum	CornerType { Min = 0, Max = 1, BottomLeft = 0, BottomRight = 1, TopLeft = 2, TopRight = 3, BottomLeftFloor = 0, BottomRightFloor = 1, TopLeftFloor = 2, TopRightFloor = 3, BottomLeftCeil = 4, BottomRightCeil = 5, TopLeftCeil = 6, TopRightCeil = 7 }

using	Index = Eigen::Index

using	NonInteger = ScalarTraits::NonInteger

using	RealScalar = ScalarTraits::Real

using	Scalar = double

using	ScalarTraits = Eigen::NumTraits< Scalar >

using	VectorType = BasicPoint2d

Public Member Functions
	BoundingBox2d ()

	BoundingBox2d (const Eigen::AlignedBox< double, 2 > &other)

template<typename OtherScalarType >
	BoundingBox2d (const Eigen::AlignedBox< OtherScalarType, AmbientDimAtCompileTime > &other)

template<typename Derived >
	BoundingBox2d (const Eigen::MatrixBase< Derived > &p)

	BoundingBox2d (Index dim)

template<typename OtherVectorType1 , typename OtherVectorType2 >
	BoundingBox2d (OtherVectorType1 min, OtherVectorType2 max)

BasicPoint2d	center () const

BoundingBox2d &	clamp (const BoundingBox2d &b)

bool	contains (const BoundingBox2d &b) const

template<typename Derived >
bool	contains (const Eigen::MatrixBase< Derived > &p) const

VectorType	corner (CornerType corner) const

BasicPoint2d	diagonal () const

Index	dim () const

BoundingBox2d &	extend (const BoundingBox2d &b)

template<typename Derived >
BoundingBox2d &	extend (const Eigen::MatrixBase< Derived > &p)

NonInteger	exteriorDistance (const BoundingBox2d &b) const

template<typename Derived >
NonInteger	exteriorDistance (const Eigen::MatrixBase< Derived > &p) const

BoundingBox2d	intersection (const BoundingBox2d &b) const

bool	intersects (const BoundingBox2d &b) const

bool	isApprox (const BoundingBox2d &other, const RealScalar &prec=ScalarTraits::dummy_precision()) const

bool	isEmpty () const

bool	isNull () const

VectorType &()	max ()

const VectorType &()	max () const

BoundingBox2d	merged (const BoundingBox2d &b) const

VectorType &()	min ()

const VectorType &()	min () const

VectorType	sample () const

void	setEmpty ()

void	setNull ()

BasicPoint2d	sizes () const

Scalar	squaredExteriorDistance (const BoundingBox2d &b) const

template<typename Derived >
Scalar	squaredExteriorDistance (const Eigen::MatrixBase< Derived > &p) const

template<typename Derived >
BoundingBox2d &	translate (const Eigen::MatrixBase< Derived > &aT)

Scalar	volume () const

Private Attributes
VectorType	max_

VectorType	min_

Detailed Description

Axis-Aligned bounding box in 2d.

Eigens aligned bounding box does not work for us in 2d, because of its memory alignment reqiurements. This is basically the same implementation, but without the memory alginment. We don't have to do that for the 3d case, because the 3d case does not use memory alignment in Eigen.

Definition at line 23 of file primitives/BoundingBox.h.

Member Typedef Documentation

◆ Index

using lanelet::BoundingBox2d::Index = Eigen::Index

Definition at line 28 of file primitives/BoundingBox.h.

◆ NonInteger

using lanelet::BoundingBox2d::NonInteger = ScalarTraits::NonInteger

Definition at line 30 of file primitives/BoundingBox.h.

◆ RealScalar

using lanelet::BoundingBox2d::RealScalar = ScalarTraits::Real

Definition at line 29 of file primitives/BoundingBox.h.

◆ Scalar

using lanelet::BoundingBox2d::Scalar = double

Definition at line 26 of file primitives/BoundingBox.h.

◆ ScalarTraits

using lanelet::BoundingBox2d::ScalarTraits = Eigen::NumTraits<Scalar>

Definition at line 27 of file primitives/BoundingBox.h.

◆ VectorType

using lanelet::BoundingBox2d::VectorType = BasicPoint2d

Definition at line 31 of file primitives/BoundingBox.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
AmbientDimAtCompileTime

Definition at line 25 of file primitives/BoundingBox.h.

◆ CornerType

enum lanelet::BoundingBox2d::CornerType

Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box

Enumerator
Min	1D names
Max
BottomLeft	Identifier for 2D corner
BottomRight
TopLeft
TopRight
BottomLeftFloor	Identifier for 3D corner
BottomRightFloor
TopLeftFloor
TopRightFloor
BottomLeftCeil
BottomRightCeil
TopLeftCeil
TopRightCeil

Definition at line 34 of file primitives/BoundingBox.h.

Constructor & Destructor Documentation

◆ BoundingBox2d() [1/6]

lanelet::BoundingBox2d::BoundingBox2d ( )

inline

Default constructor initializing a null box.

Definition at line 60 of file primitives/BoundingBox.h.

◆ BoundingBox2d() [2/6]

lanelet::BoundingBox2d::BoundingBox2d ( Index dim )

inlineexplicit

Constructs a null box with _dim the dimension of the ambient space.

Definition at line 67 of file primitives/BoundingBox.h.

◆ BoundingBox2d() [3/6]

template<typename OtherVectorType1 , typename OtherVectorType2 >

lanelet::BoundingBox2d::BoundingBox2d	(	OtherVectorType1	min,
		OtherVectorType2	max
	)

inline

Constructs a box with extremities _min and _max.

Warning: If either component of _min is larger than the same component of _max, the constructed box is empty.

Definition at line 73 of file primitives/BoundingBox.h.

◆ BoundingBox2d() [4/6]

template<typename Derived >

lanelet::BoundingBox2d::BoundingBox2d ( const Eigen::MatrixBase< Derived > & p )

inlineexplicit

Constructs a box containing a single point p.

Definition at line 77 of file primitives/BoundingBox.h.

◆ BoundingBox2d() [5/6]

lanelet::BoundingBox2d::BoundingBox2d ( const Eigen::AlignedBox< double, 2 > & other )

inline

Definition at line 79 of file primitives/BoundingBox.h.

◆ BoundingBox2d() [6/6]

template<typename OtherScalarType >

lanelet::BoundingBox2d::BoundingBox2d ( const Eigen::AlignedBox< OtherScalarType, AmbientDimAtCompileTime > & other )

inlineexplicit

Copy constructor with scalar type conversion

Definition at line 261 of file primitives/BoundingBox.h.

Member Function Documentation

◆ center()

BasicPoint2d lanelet::BoundingBox2d::center ( ) const

inline

Returns: the center of the box

Definition at line 113 of file primitives/BoundingBox.h.

◆ clamp()

BoundingBox2d& lanelet::BoundingBox2d::clamp ( const BoundingBox2d & b )

inline

Clamps *this by the box b and returns a reference to *this.

Note: If the boxes don't intersect, the resulting box is empty.

See also: intersection(), intersects()

Definition at line 196 of file primitives/BoundingBox.h.

◆ contains() [1/2]

bool lanelet::BoundingBox2d::contains ( const BoundingBox2d & b ) const

inline

Returns: true if the box b is entirely inside the box *this.

Definition at line 165 of file primitives/BoundingBox.h.

◆ contains() [2/2]

template<typename Derived >

bool lanelet::BoundingBox2d::contains ( const Eigen::MatrixBase< Derived > & p ) const

inline

Returns: true if the point p is inside the box *this.

Definition at line 160 of file primitives/BoundingBox.h.

◆ corner()

VectorType lanelet::BoundingBox2d::corner ( CornerType corner ) const

inline

Returns: the vertex of the bounding box at the corner defined by the corner-id corner. It works only for a 1D, 2D or 3D bounding box. For 1D bounding boxes corners are named by 2 enum constants: BottomLeft and BottomRight. For 2D bounding boxes, corners are named by 4 enum constants: BottomLeft, BottomRight, TopLeft, TopRight. For 3D bounding boxes, the following names are added: BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.

Definition at line 139 of file primitives/BoundingBox.h.

◆ diagonal()

BasicPoint2d lanelet::BoundingBox2d::diagonal ( ) const

inline

Returns: an expression for the bounding box diagonal vector if the length of the diagonal is needed: diagonal().norm() will provide it.

Definition at line 128 of file primitives/BoundingBox.h.

◆ dim()

Index lanelet::BoundingBox2d::dim ( ) const

inline

Returns: the dimension in which the box holds

Definition at line 82 of file primitives/BoundingBox.h.

◆ extend() [1/2]

BoundingBox2d& lanelet::BoundingBox2d::extend ( const BoundingBox2d & b )

inline

Extends *this such that it contains the box b and returns a reference to *this.

See also: merged, extend(const MatrixBase&)

Definition at line 187 of file primitives/BoundingBox.h.

◆ extend() [2/2]

template<typename Derived >

BoundingBox2d& lanelet::BoundingBox2d::extend ( const Eigen::MatrixBase< Derived > & p )

inline

Extends *this such that it contains the point p and returns a reference to *this.

See also: extend(const BoundingBox&)

Definition at line 178 of file primitives/BoundingBox.h.

◆ exteriorDistance() [1/2]

NonInteger lanelet::BoundingBox2d::exteriorDistance ( const BoundingBox2d & b ) const

inline

Returns: the distance between the boxes b and *this, and zero if the boxes intersect.

See also: squaredExteriorDistance(const BoundingBox2d&), exteriorDistance(const MatrixBase&)

Definition at line 254 of file primitives/BoundingBox.h.

◆ exteriorDistance() [2/2]

template<typename Derived >

NonInteger lanelet::BoundingBox2d::exteriorDistance ( const Eigen::MatrixBase< Derived > & p ) const

inline

Returns: the distance between the point p and the box *this, and zero if p is inside the box.

See also: squaredExteriorDistance(const MatrixBase&), exteriorDistance(const BoundingBox2d&)

Definition at line 246 of file primitives/BoundingBox.h.

◆ intersection()

BoundingBox2d lanelet::BoundingBox2d::intersection ( const BoundingBox2d & b ) const

inline

Returns an BoundingBox2d that is the intersection of b and *this

Note: If the boxes don't intersect, the resulting box is empty.

See also: intersects(), clamp, contains()

Definition at line 205 of file primitives/BoundingBox.h.

◆ intersects()

bool lanelet::BoundingBox2d::intersects ( const BoundingBox2d & b ) const

inline

Returns: true if the box b is intersecting the box *this.

See also: intersection, clamp

Definition at line 171 of file primitives/BoundingBox.h.

◆ isApprox()

bool lanelet::BoundingBox2d::isApprox	(	const BoundingBox2d &	other,
		const RealScalar &	prec = `ScalarTraits::dummy_precision()`
	)		const

inline

Returns: true if *this is approximately equal to other, within the precision determined by prec.

See also: MatrixBase::isApprox()

Definition at line 270 of file primitives/BoundingBox.h.

◆ isEmpty()

bool lanelet::BoundingBox2d::isEmpty ( ) const

inline

Returns: true if the box is empty.

See also: setEmpty

Definition at line 94 of file primitives/BoundingBox.h.

◆ isNull()

bool lanelet::BoundingBox2d::isNull ( ) const

inline

Deprecated:: use isEmpty()

Definition at line 87 of file primitives/BoundingBox.h.

◆ max() [1/2]

VectorType&() lanelet::BoundingBox2d::max ( )

inline

Returns: a non const reference to the maximal corner

Definition at line 110 of file primitives/BoundingBox.h.

◆ max() [2/2]

const VectorType&() lanelet::BoundingBox2d::max ( ) const

inline

Returns: the maximal corner

Definition at line 108 of file primitives/BoundingBox.h.

◆ merged()

BoundingBox2d lanelet::BoundingBox2d::merged ( const BoundingBox2d & b ) const

inline

Returns an BoundingBox2d that is the union of b and *this.

Note: Merging with an empty box may result in a box bigger than *this.

See also: extend(const BoundingBox2d&)

Definition at line 212 of file primitives/BoundingBox.h.

◆ min() [1/2]

VectorType&() lanelet::BoundingBox2d::min ( )

inline

Returns: a non const reference to the minimal corner

Definition at line 106 of file primitives/BoundingBox.h.

◆ min() [2/2]

const VectorType&() lanelet::BoundingBox2d::min ( ) const

inline

Returns: the minimal corner

Definition at line 104 of file primitives/BoundingBox.h.

◆ sample()

VectorType lanelet::BoundingBox2d::sample ( ) const

inline

Returns: a random point inside the bounding box sampled with a uniform distribution

Definition at line 156 of file primitives/BoundingBox.h.

◆ setEmpty()

void lanelet::BoundingBox2d::setEmpty ( )

inline

Makes *this an empty box.

See also: isEmpty

Definition at line 98 of file primitives/BoundingBox.h.

◆ setNull()

void lanelet::BoundingBox2d::setNull ( )

inline

Deprecated:: use setEmpty()

Definition at line 90 of file primitives/BoundingBox.h.

◆ sizes()

BasicPoint2d lanelet::BoundingBox2d::sizes ( ) const

inline

Returns: the lengths of the sides of the bounding box. Note that this function does not get the same result for integral or floating scalar types: see

Definition at line 119 of file primitives/BoundingBox.h.

◆ squaredExteriorDistance() [1/2]

Scalar lanelet::BoundingBox2d::squaredExteriorDistance ( const BoundingBox2d & b ) const

inline

Returns: the squared distance between the boxes b and *this, and zero if the boxes intersect.

See also: exteriorDistance(const BoundingBox2d&), squaredExteriorDistance(const MatrixBase&)

Definition at line 236 of file primitives/BoundingBox.h.

◆ squaredExteriorDistance() [2/2]

template<typename Derived >

Scalar lanelet::BoundingBox2d::squaredExteriorDistance ( const Eigen::MatrixBase< Derived > & p ) const

inline

Returns: the squared distance between the point p and the box *this, and zero if p is inside the box.

See also: exteriorDistance(const MatrixBase&), squaredExteriorDistance(const BoundingBox2d&)

Definition at line 228 of file primitives/BoundingBox.h.

◆ translate()

template<typename Derived >

BoundingBox2d& lanelet::BoundingBox2d::translate ( const Eigen::MatrixBase< Derived > & aT )

inline

Translate *this by the vector t and returns a reference to *this.

Definition at line 216 of file primitives/BoundingBox.h.

◆ volume()

Scalar lanelet::BoundingBox2d::volume ( ) const

inline

Returns: the volume of the bounding box

Definition at line 122 of file primitives/BoundingBox.h.

Member Data Documentation

◆ max_

VectorType lanelet::BoundingBox2d::max_

private

Definition at line 275 of file primitives/BoundingBox.h.

◆ min_

VectorType lanelet::BoundingBox2d::min_

private

Definition at line 275 of file primitives/BoundingBox.h.

The documentation for this class was generated from the following file:

primitives/BoundingBox.h

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Index

◆ NonInteger

◆ RealScalar

◆ Scalar

◆ ScalarTraits

◆ VectorType

Member Enumeration Documentation

◆ anonymous enum

◆ CornerType

Constructor & Destructor Documentation

◆ BoundingBox2d() [1/6]

◆ BoundingBox2d() [2/6]

◆ BoundingBox2d() [3/6]

◆ BoundingBox2d() [4/6]

◆ BoundingBox2d() [5/6]

◆ BoundingBox2d() [6/6]

Member Function Documentation

◆ center()

◆ clamp()

◆ contains() [1/2]

◆ contains() [2/2]

◆ corner()

◆ diagonal()

◆ dim()

◆ extend() [1/2]

◆ extend() [2/2]

◆ exteriorDistance() [1/2]

◆ exteriorDistance() [2/2]

◆ intersection()

◆ intersects()

◆ isApprox()

◆ isEmpty()

◆ isNull()

◆ max() [1/2]

◆ max() [2/2]

◆ merged()

◆ min() [1/2]

◆ min() [2/2]

◆ sample()

◆ setEmpty()

◆ setNull()

◆ sizes()

◆ squaredExteriorDistance() [1/2]

◆ squaredExteriorDistance() [2/2]

◆ translate()

◆ volume()

Member Data Documentation

◆ max_

◆ min_