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<div class="title">ParametrizedLine.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com></span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#ifndef EIGEN_PARAMETRIZEDLINE_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_PARAMETRIZEDLINE_H</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">namespace </span>Eigen { </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _AmbientDim, <span class="keywordtype">int</span> _Options></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">class </span>ParametrizedLine</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> {</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  enum {</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  AmbientDimAtCompileTime = _AmbientDim,</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  Options = _Options</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  };</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">typedef</span> _Scalar Scalar;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> NumTraits<Scalar>::Real RealScalar;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">typedef</span> DenseIndex Index;</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">typedef</span> Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9"> 44</a></span>  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">ParametrizedLine</a>() {}</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">template</span><<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">ParametrizedLine</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions></a>& other)</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  : m_origin(other.origin()), m_direction(other.direction())</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  {}</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a5e7bf37eebc5f6f8fd9eb0d505cad45d"> 53</a></span>  <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1ParametrizedLine.html#a5e7bf37eebc5f6f8fd9eb0d505cad45d">ParametrizedLine</a>(Index _dim) : m_origin(_dim), m_direction(_dim) {}</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#aaaa6ea65c420bb90c2a98719ea17074f"> 58</a></span>  <a class="code" href="classEigen_1_1ParametrizedLine.html#aaaa6ea65c420bb90c2a98719ea17074f">ParametrizedLine</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>& origin, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>& direction)</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  : m_origin(origin), m_direction(direction) {}</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">ParametrizedLine</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim, OtherOptions></a>& hyperplane);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#af9509e5253a2b64d8be3a2c3a59395b4"> 65</a></span>  <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine</a> <a class="code" href="classEigen_1_1ParametrizedLine.html#af9509e5253a2b64d8be3a2c3a59395b4">Through</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>& p0, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>& p1)</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">ParametrizedLine</a>(p0, (p1-p0).normalized()); }</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  ~<a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine</a>() {}</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a8809dd8f7c45e11b3f62c3fcf0175e68"> 71</a></span>  <span class="keyword">inline</span> Index <a class="code" href="classEigen_1_1ParametrizedLine.html#a8809dd8f7c45e11b3f62c3fcf0175e68">dim</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_direction.size(); }</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">const</span> VectorType& origin()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_origin; }</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  VectorType& origin() { <span class="keywordflow">return</span> m_origin; }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">const</span> VectorType& direction()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_direction; }</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  VectorType& direction() { <span class="keywordflow">return</span> m_direction; }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#ac1a8c756c2619371a35f80e062a16deb"> 82</a></span>  RealScalar <a class="code" href="classEigen_1_1ParametrizedLine.html#ac1a8c756c2619371a35f80e062a16deb">squaredDistance</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>& p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> diff = p - origin();</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> (diff - direction().dot(diff) * direction()).squaredNorm();</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a07e68c35a13ec165902e8f5e670acd26"> 90</a></span>  RealScalar <a class="code" href="classEigen_1_1ParametrizedLine.html#a07e68c35a13ec165902e8f5e670acd26">distance</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>& p)<span class="keyword"> const </span>{ <span class="keyword">using</span> std::sqrt; <span class="keywordflow">return</span> sqrt(<a class="code" href="classEigen_1_1ParametrizedLine.html#ac1a8c756c2619371a35f80e062a16deb">squaredDistance</a>(p)); }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#ac93039c47cde2b60b29d99f3e1a7dc71"> 93</a></span>  <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> <a class="code" href="classEigen_1_1ParametrizedLine.html#ac93039c47cde2b60b29d99f3e1a7dc71">projection</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">VectorType</a>& p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> origin() + direction().dot(p-origin()) * direction(); }</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  VectorType <a class="code" href="classEigen_1_1ParametrizedLine.html#a0dfdd3abc1d123cfd6da5deba6ac51ac">pointAt</a>(<span class="keyword">const</span> Scalar& t) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  Scalar intersectionParameter(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim, OtherOptions></a>& hyperplane) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  Scalar intersection(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim, OtherOptions></a>& hyperplane) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  VectorType intersectionPoint(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim, OtherOptions></a>& hyperplane) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">template</span><<span class="keyword">typename</span> NewScalarType></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">inline</span> <span class="keyword">typename</span> internal::cast_return_type<<a class="code" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">ParametrizedLine</a>,</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a1c65a5e9e83b2ba93c71739cad4a6c94"> 114</a></span>  <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options></a> >::type <a class="code" href="classEigen_1_1ParametrizedLine.html#a1c65a5e9e83b2ba93c71739cad4a6c94">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">return</span> <span class="keyword">typename</span> internal::cast_return_type<<a class="code" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">ParametrizedLine</a>,</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options></a> >::type(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  }</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OtherScalarType,<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a317dec95e2fb2bfef6b63b6b7bc10d4e"> 122</a></span>  <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1ParametrizedLine.html#a317dec95e2fb2bfef6b63b6b7bc10d4e">ParametrizedLine</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions></a>& other)</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  {</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  m_origin = other.origin().template cast<Scalar>();</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  m_direction = other.direction().template cast<Scalar>();</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a696096bc0f2b23dbee9f800cd89ace73"> 132</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1ParametrizedLine.html#a696096bc0f2b23dbee9f800cd89ace73">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine</a>& other, <span class="keyword">typename</span> <a class="code" href="structEigen_1_1NumTraits.html">NumTraits<Scalar>::Real</a> prec = <a class="code" href="structEigen_1_1NumTraits.html">NumTraits<Scalar>::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  VectorType m_origin, m_direction;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> };</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _AmbientDim, <span class="keywordtype">int</span> _Options></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a585e0885f09c39b72d99791e8de387b6"> 146</a></span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim,OtherOptions></a>& hyperplane)</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> {</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(<a class="code" href="classEigen_1_1Matrix.html">VectorType</a>, 2)</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  direction() = hyperplane.<a class="code" href="classEigen_1_1Hyperplane.html#ace24c10a33475a675f45cfbf085378ad">normal</a>().unitOrthogonal();</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  origin() = -hyperplane.<a class="code" href="classEigen_1_1Hyperplane.html#ace24c10a33475a675f45cfbf085378ad">normal</a>()*hyperplane.<a class="code" href="classEigen_1_1Hyperplane.html#a32ddf277ab2a650e7d520bcbbc09fb99">offset</a>();</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> }</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _AmbientDim, <span class="keywordtype">int</span> _Options></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">inline</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Matrix.html">ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType</a></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a0dfdd3abc1d123cfd6da5deba6ac51ac"> 157</a></span> <a class="code" href="classEigen_1_1ParametrizedLine.html#a0dfdd3abc1d123cfd6da5deba6ac51ac">ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt</a>(<span class="keyword">const</span> _Scalar& t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">return</span> origin() + (direction()*t); </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _AmbientDim, <span class="keywordtype">int</span> _Options></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a122c56306b853cf5128f5cc8c480afb1"> 166</a></span> <span class="keyword">inline</span> _Scalar <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim, OtherOptions></a>& hyperplane)<span class="keyword"> const</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">return</span> -(hyperplane.<a class="code" href="classEigen_1_1Hyperplane.html#a32ddf277ab2a650e7d520bcbbc09fb99">offset</a>()+hyperplane.<a class="code" href="classEigen_1_1Hyperplane.html#ace24c10a33475a675f45cfbf085378ad">normal</a>().dot(origin()))</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  / hyperplane.<a class="code" href="classEigen_1_1Hyperplane.html#ace24c10a33475a675f45cfbf085378ad">normal</a>().dot(direction());</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> }</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _AmbientDim, <span class="keywordtype">int</span> _Options></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a5332a558e67b203eddb54856f7609ff9"> 178</a></span> <span class="keyword">inline</span> _Scalar <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim, OtherOptions></a>& hyperplane)<span class="keyword"> const</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> intersectionParameter(hyperplane);</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> }</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="keyword">template</span> <<span class="keyword">typename</span> _Scalar, <span class="keywordtype">int</span> _AmbientDim, <span class="keywordtype">int</span> _Options></div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> OtherOptions></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">inline</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Matrix.html">ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType</a></div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classEigen_1_1ParametrizedLine.html#a1549464241a7d8d863e5e9cad32688c2"> 188</a></span> <a class="code" href="classEigen_1_1ParametrizedLine.html">ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Hyperplane.html">Hyperplane<_Scalar, _AmbientDim, OtherOptions></a>& hyperplane)<span class="keyword"> const</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">return</span> pointAt(intersectionParameter(hyperplane));</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> }</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> } <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="preprocessor">#endif // EIGEN_PARAMETRIZEDLINE_H</span></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_a696096bc0f2b23dbee9f800cd89ace73"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#a696096bc0f2b23dbee9f800cd89ace73">Eigen::ParametrizedLine::isApprox</a></div><div class="ttdeci">bool isApprox(const ParametrizedLine &other, typename NumTraits< Scalar >::Real prec=NumTraits< Scalar >::dummy_precision()) const </div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:132</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_ac93039c47cde2b60b29d99f3e1a7dc71"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#ac93039c47cde2b60b29d99f3e1a7dc71">Eigen::ParametrizedLine::projection</a></div><div class="ttdeci">VectorType projection(const VectorType &p) const </div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:93</div></div>
<div class="ttc" id="structEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen. ...</div><div class="ttdef"><b>Definition:</b> NumTraits.h:88</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_aaaa6ea65c420bb90c2a98719ea17074f"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#aaaa6ea65c420bb90c2a98719ea17074f">Eigen::ParametrizedLine::ParametrizedLine</a></div><div class="ttdeci">ParametrizedLine(const VectorType &origin, const VectorType &direction)</div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:58</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_af9509e5253a2b64d8be3a2c3a59395b4"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#af9509e5253a2b64d8be3a2c3a59395b4">Eigen::ParametrizedLine::Through</a></div><div class="ttdeci">static ParametrizedLine Through(const VectorType &p0, const VectorType &p1)</div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:65</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_ac1a8c756c2619371a35f80e062a16deb"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#ac1a8c756c2619371a35f80e062a16deb">Eigen::ParametrizedLine::squaredDistance</a></div><div class="ttdeci">RealScalar squaredDistance(const VectorType &p) const </div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:82</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_ac5c2ec38035eb882c02df80d7e94c2a9"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#ac5c2ec38035eb882c02df80d7e94c2a9">Eigen::ParametrizedLine::ParametrizedLine</a></div><div class="ttdeci">ParametrizedLine()</div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:44</div></div>
<div class="ttc" id="classEigen_1_1Hyperplane_html"><div class="ttname"><a href="classEigen_1_1Hyperplane.html">Eigen::Hyperplane</a></div><div class="ttdoc">A hyperplane. </div><div class="ttdef"><b>Definition:</b> ForwardDeclarations.h:263</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_a5e7bf37eebc5f6f8fd9eb0d505cad45d"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#a5e7bf37eebc5f6f8fd9eb0d505cad45d">Eigen::ParametrizedLine::ParametrizedLine</a></div><div class="ttdeci">ParametrizedLine(Index _dim)</div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:53</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_a07e68c35a13ec165902e8f5e670acd26"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#a07e68c35a13ec165902e8f5e670acd26">Eigen::ParametrizedLine::distance</a></div><div class="ttdeci">RealScalar distance(const VectorType &p) const </div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:90</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_a317dec95e2fb2bfef6b63b6b7bc10d4e"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#a317dec95e2fb2bfef6b63b6b7bc10d4e">Eigen::ParametrizedLine::ParametrizedLine</a></div><div class="ttdeci">ParametrizedLine(const ParametrizedLine< OtherScalarType, AmbientDimAtCompileTime, OtherOptions > &other)</div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:122</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_a0dfdd3abc1d123cfd6da5deba6ac51ac"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#a0dfdd3abc1d123cfd6da5deba6ac51ac">Eigen::ParametrizedLine::pointAt</a></div><div class="ttdeci">VectorType pointAt(const Scalar &t) const </div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:157</div></div>
<div class="ttc" id="classEigen_1_1Hyperplane_html_ace24c10a33475a675f45cfbf085378ad"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#ace24c10a33475a675f45cfbf085378ad">Eigen::Hyperplane::normal</a></div><div class="ttdeci">ConstNormalReturnType normal() const </div><div class="ttdef"><b>Definition:</b> Hyperplane.h:147</div></div>
<div class="ttc" id="classEigen_1_1Hyperplane_html_a32ddf277ab2a650e7d520bcbbc09fb99"><div class="ttname"><a href="classEigen_1_1Hyperplane.html#a32ddf277ab2a650e7d520bcbbc09fb99">Eigen::Hyperplane::offset</a></div><div class="ttdeci">const Scalar & offset() const </div><div class="ttdef"><b>Definition:</b> Hyperplane.h:157</div></div>
<div class="ttc" id="classEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix< Scalar, AmbientDimAtCompileTime, 1, Options ></a></div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html">Eigen::ParametrizedLine</a></div><div class="ttdoc">A parametrized line. </div><div class="ttdef"><b>Definition:</b> ForwardDeclarations.h:262</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_a8809dd8f7c45e11b3f62c3fcf0175e68"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#a8809dd8f7c45e11b3f62c3fcf0175e68">Eigen::ParametrizedLine::dim</a></div><div class="ttdeci">Index dim() const </div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:71</div></div>
<div class="ttc" id="classEigen_1_1ParametrizedLine_html_a1c65a5e9e83b2ba93c71739cad4a6c94"><div class="ttname"><a href="classEigen_1_1ParametrizedLine.html#a1c65a5e9e83b2ba93c71739cad4a6c94">Eigen::ParametrizedLine::cast</a></div><div class="ttdeci">internal::cast_return_type< ParametrizedLine, ParametrizedLine< NewScalarType, AmbientDimAtCompileTime, Options > >::type cast() const </div><div class="ttdef"><b>Definition:</b> ParametrizedLine.h:114</div></div>
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