GitHub-Proxy/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2025-08-13 12:19:12 +08:00
Code Issues Packages Projects Releases Wiki Activity

some hyperplane changes:

Browse Source 
- the coefficients are stored in a single vector
- added transformation methods
- removed Line* typedef since in 2D this is really an hyperplane
  and not really a line...
- HyperPlane => Hyperplane
This commit is contained in:
Gael Guennebaud 2008-08-29 13:30:37 +00:00
parent 409e82be06
commit 6d841512c7
3 changed files with 77 additions and 64 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Eigen/Geometry
View File

@ -31,7 +31,7 @@ namespace Eigen {
#include "src/Geometry/AngleAxis.h" #include "src/Geometry/AngleAxis.h"
#include "src/Geometry/Rotation.h" #include "src/Geometry/Rotation.h"
#include "src/Geometry/Transform.h" #include "src/Geometry/Transform.h"
#include "src/Geometry/HyperPlane.h" #include "src/Geometry/Hyperplane.h"
} // namespace Eigen } // namespace Eigen

127
Eigen/src/Geometry/HyperPlane.h → Eigen/src/Geometry/Hyperplane.h
View File

@ -22,12 +22,12 @@
// License and a copy of the GNU General Public License along with // License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>. // Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_HYPERPLANE_H #ifndef EIGEN_Hyperplane_H
#define EIGEN_HYPERPLANE_H #define EIGEN_Hyperplane_H
/** \geometry_module \ingroup GeometryModule /** \geometry_module \ingroup GeometryModule
* *
* \class HyperPlane * \class Hyperplane
* *
* \brief Represents an hyper plane in any dimensions * \brief Represents an hyper plane in any dimensions
* *
@ -40,9 +40,8 @@
* *
*/ */
// FIXME default to 3 (because plane => dim=3, or default to Dynamic ?) template <typename _Scalar, int _Dim>
template <typename _Scalar, int _Dim = 3> class Hyperplane
class HyperPlane
{ {
public: public:
@ -51,81 +50,86 @@ class HyperPlane
typedef _Scalar Scalar; typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar; typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar,DimAtCompileTime,1> VectorType; typedef Matrix<Scalar,DimAtCompileTime,1> VectorType;
typedef Matrix<Scalar,DimAtCompileTime==Dynamic
? Dynamic
: DimAtCompileTime+1,1> Coefficients;
typedef Block<Coefficients,DimAtCompileTime,1> NormalReturnType;
HyperPlane(int _dim = DimAtCompileTime) /** Default constructor without initialization */
: m_normal(_dim) inline Hyperplane(int _dim = DimAtCompileTime) : m_coeffs(_dim+1) {}
{}
/** Construct a plane from its normal \a normal and a point \a e onto the plane. /** Construct a plane from its normal \a n and a point \a e onto the plane.
* \warning the vector normal is assumed to be normalized. * \warning the vector normal is assumed to be normalized.
*/ */
HyperPlane(const VectorType& normal, const VectorType e) inline Hyperplane(const VectorType& n, const VectorType e)
: m_normal(normal), m_offset(-e.dot(normal)) : m_coeffs(n.size()+1)
{} {
_normal() = n;
_offset() = -e.dot(n);
}
/** Constructs a plane from its normal \a normal and distance to the origin \a d. /** Constructs a plane from its normal \a n and distance to the origin \a d.
* \warning the vector normal is assumed to be normalized. * \warning the vector normal is assumed to be normalized.
*/ */
HyperPlane(const VectorType& normal, Scalar d) inline Hyperplane(const VectorType& n, Scalar d)
: m_normal(normal), m_offset(d) : m_coeffs(n.size()+1)
{} {
_normal() = n;
_offset() = d;
}
~HyperPlane() {} ~Hyperplane() {}
/** \returns the dimension in which the plane holds */ /** \returns the dimension in which the plane holds */
int dim() const { return m_normal.size(); } inline int dim() const { return DimAtCompileTime==Dynamic ? m_coeffs.size()-1 : DimAtCompileTime; }
/** normalizes \c *this */ void normalize(void);
void normalize(void)
{
RealScalar l = Scalar(1)/m_normal.norm();
m_normal *= l;
m_offset *= l;
}
/** \returns the signed distance between the plane \c *this and a point \a p. /** \returns the signed distance between the plane \c *this and a point \a p.
*/ */
inline Scalar distanceTo(const VectorType& p) const inline Scalar distanceTo(const VectorType& p) const { return p.dot(normal()) + offset(); }
{
return p.dot(m_normal) + m_offset;
}
/** \returns the projection of a point \a p onto the plane \c *this. /** \returns the projection of a point \a p onto the plane \c *this.
*/ */
inline VectorType project(const VectorType& p) const inline VectorType project(const VectorType& p) const { return p - distanceTo(p) * normal(); }
{
return p - distanceTo(p) * m_normal;
}
/** \returns the normal of the plane, which corresponds to the linear part of the implicit equation. */ /** \returns the normal of the plane, which corresponds to the linear part of the implicit equation. */
inline const VectorType& normal(void) const { return m_normal; } inline const NormalReturnType normal() const { return NormalReturnType(m_coeffs,0,0,dim(),1); }
/** \returns the distance to the origin, which is also the constant part /** \returns the distance to the origin, which is also the constant part
* of the implicit equation */ * of the implicit equation */
inline Scalar offset(void) const { return m_offset; } inline Scalar offset() const { return m_coeffs(dim()); }
/** Set the normal of the plane. /** Set the normal of the plane.
* \warning the vector normal is assumed to be normalized. */ * \warning the vector normal is assumed to be normalized. */
inline void setNormal(const VectorType& normal) { m_normal = normal; } inline void setNormal(const VectorType& normal) { _normal() = normal; }
/** Set the distance to origin */ /** Set the distance to origin */
inline void setOffset(Scalar d) { m_offset = d; } inline void setOffset(Scalar d) { _offset() = d; }
/** \returns a pointer the coefficients c_i of the plane equation: /** \returns the coefficients c_i of the plane equation:
* c_0*x_0 + ... + c_d-1*x_d-1 + offset = 0 * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
* \warning this is only for fixed size dimensions !
*/ */
inline const Scalar* equation(void) const { return m_normal.data(); } // FIXME name: equation vs coeffs vs coefficients ???
inline Coefficients equation(void) const { return m_coeffs; }
/** \brief Plane/ray intersection. /** \brief Plane/ray intersection.
Returns the parameter value of the intersection between the plane \a *this Returns the parameter value of the intersection between the plane \a *this
and the parametric ray of origin \a rayOrigin and axis \a rayDir and the parametric ray of origin \a rayOrigin and axis \a rayDir
*/ */
Scalar rayIntersection(const VectorType& rayOrigin, const VectorType& rayDir) inline Scalar rayIntersection(const VectorType& rayOrigin, const VectorType& rayDir)
{ {
return -(m_offset+rayOrigin.dot(m_normal))/(rayDir.dot(m_normal)); return -(_offset()+rayOrigin.dot(_normal()))/(rayDir.dot(_normal()));
} }
template<typename XprType>
inline Hyperplane operator* (const MatrixBase<XprType>& mat) const
{ return Hyperplane(mat.inverse().transpose() * _normal(), _offset()); }
template<typename XprType>
inline Hyperplane& operator*= (const MatrixBase<XprType>& mat) const
{ _normal() = mat.inverse().transpose() * _normal(); return *this; }
// TODO some convenient functions to fit a 3D plane on 3 points etc... // TODO some convenient functions to fit a 3D plane on 3 points etc...
// void makePassBy(const VectorType& p0, const VectorType& p1, const VectorType& p2) // void makePassBy(const VectorType& p0, const VectorType& p1, const VectorType& p2)
// { // {
@ -143,24 +147,33 @@ class HyperPlane
protected: protected:
VectorType m_normal; inline NormalReturnType _normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
Scalar m_offset; inline Scalar& _offset() { return m_coeffs(dim()); }
Coefficients m_coeffs;
}; };
/** \addtogroup GeometryModule */ /** \addtogroup GeometryModule */
//@{ //@{
typedef HyperPlane<float, 2> HyperPlane2f; typedef Hyperplane<float, 2> Hyperplane2f;
typedef HyperPlane<double,2> HyperPlane2d; typedef Hyperplane<double,2> Hyperplane2d;
typedef HyperPlane<float, 3> HyperPlane3f; typedef Hyperplane<float, 3> Hyperplane3f;
typedef HyperPlane<double,3> HyperPlane3d; typedef Hyperplane<double,3> Hyperplane3d;
typedef HyperPlane<float, 2> Linef; typedef Hyperplane<float, 3> Planef;
typedef HyperPlane<double,2> Lined; typedef Hyperplane<double,3> Planed;
typedef HyperPlane<float, 3> Planef;
typedef HyperPlane<double,3> Planed;
typedef HyperPlane<float, Dynamic> HyperPlaneXf; typedef Hyperplane<float, Dynamic> HyperplaneXf;
typedef HyperPlane<double,Dynamic> HyperPlaneXd; typedef Hyperplane<double,Dynamic> HyperplaneXd;
//@} //@}
#endif // EIGEN_HYPERPLANE_H /** normalizes \c *this */
template <typename _Scalar, int _Dim>
void Hyperplane<_Scalar,_Dim>::normalize(void)
{
RealScalar l = Scalar(1)/_normal().norm();
_normal() *= l;
_offset() *= l;
}
#endif // EIGEN_Hyperplane_H

12
test/hyperplane.cpp
View File

@ -29,7 +29,7 @@
template<typename PlaneType> void hyperplane(const PlaneType& _plane) template<typename PlaneType> void hyperplane(const PlaneType& _plane)
{ {
/* this test covers the following files: /* this test covers the following files:
HyperPlane.h Hyperplane.h
*/ */
const int dim = _plane.dim(); const int dim = _plane.dim();
@ -62,10 +62,10 @@ template<typename PlaneType> void hyperplane(const PlaneType& _plane)
void test_hyperplane() void test_hyperplane()
{ {
for(int i = 0; i < g_repeat; i++) { for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST( hyperplane(HyperPlane<float,2>()) ); CALL_SUBTEST( hyperplane(Hyperplane<float,2>()) );
CALL_SUBTEST( hyperplane(HyperPlane<float,3>()) ); CALL_SUBTEST( hyperplane(Hyperplane<float,3>()) );
CALL_SUBTEST( hyperplane(HyperPlane<double,4>()) ); CALL_SUBTEST( hyperplane(Hyperplane<double,4>()) );
CALL_SUBTEST( hyperplane(HyperPlane<std::complex<double>,5>()) ); CALL_SUBTEST( hyperplane(Hyperplane<std::complex<double>,5>()) );
CALL_SUBTEST( hyperplane(HyperPlane<double,Dynamic>(13)) ); CALL_SUBTEST( hyperplane(Hyperplane<double,Dynamic>(13)) );
} }
} }