eigen_utils.hpp

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/*
 * SPDX-FileCopyrightText: 2023 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2023 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_COMMON_EIGEN_UTILS_HPP
#define SE_COMMON_EIGEN_UTILS_HPP
 
#include <Eigen/Geometry>
 
namespace se {
namespace eigen {
 
template<typename ScalarT, int Dim>
Eigen::AlignedBox<ScalarT, Dim> dilate_erode(const Eigen::AlignedBox<ScalarT, Dim>& box,
                                             const ScalarT distance);
 
template<typename ScalarT, int Mode, int Options>
Eigen::AlignedBox<ScalarT, 3> transform(const Eigen::Transform<ScalarT, 3, Mode, Options>& T_BA,
                                        const Eigen::AlignedBox<ScalarT, 3>& box_A);
 
template<typename T, typename U, typename V>
void clamp(Eigen::MatrixBase<T>& x,
           const Eigen::MatrixBase<U>& low,
           const Eigen::MatrixBase<V>& high);
 
template<typename T, typename U, typename V>
void clamp(Eigen::ArrayBase<T>& x, const Eigen::ArrayBase<U>& low, const Eigen::ArrayBase<V>& high);
 
} // namespace eigen
} // namespace se
 
#include "impl/eigen_utils_impl.hpp"
 
#endif // SE_COMMON_EIGEN_UTILS_HPP