Seems to compile

cmake/DefineApproxMVBBSources.cmake

@@ -37,6 +37,7 @@ macro(INCLUDE_ALL_ApproxMVBB_SOURCE
         ${ApproxMVBB_ROOT_DIR}/src/ApproxMVBB/RandomGenerators.cpp
         ${ApproxMVBB_ROOT_DIR}/src/ApproxMVBB/ConvexHull2D.cpp
         ${ApproxMVBB_ROOT_DIR}/src/ApproxMVBB/MinAreaRectangle.cpp
+        ${ApproxMVBB_ROOT_DIR}/src/ApproxMVBB/ProjectedPointSet.cpp
         ${ApproxMVBB_ROOT_DIR}/src/ApproxMVBB/OOBB.cpp
         ${ApproxMVBB_ROOT_DIR}/src/ApproxMVBB/AABB.cpp
 

example/approxMVBB/src/main.cpp

@@ -16,7 +16,7 @@ int main(int argc, char** argv)
 {
     unsigned int nPoints = 100000;
 
-    std::cout << "Sample " << nPoints << " points in unite cube (coordinates are in world frame I) " << std::endl;
+    std::cout << "Sample " << nPoints << " points in unite cube (coordinates are in world coordinate system `I` ) " << std::endl;
     ApproxMVBB::Matrix3Dyn points(3, nPoints);
     points.setRandom();
 
@@ -28,14 +28,14 @@ int main(int argc, char** argv)
                                                         5);
 
     std::cout << "Computed OOBB: " << std::endl
-              << "---> lower point in OOBB frame: " << oobb.m_minPoint.transpose() << std::endl
-              << "---> upper point in OOBB frame: " << oobb.m_maxPoint.transpose() << std::endl
-              << "---> coordinate transformation A_IK matrix from OOBB frame K "
-                 "to world frame I"
+              << "---> lower point in OOBB coordinate system: " << oobb.m_minPoint.transpose() << std::endl
+              << "---> upper point in OOBB coordinate system: " << oobb.m_maxPoint.transpose() << std::endl
+              << "---> coordinate transformation A_IK matrix from OOBB coordinate system `K`  "
+                 "to world coordinate system `I` "
               << std::endl
               << oobb.m_q_KI.matrix() << std::endl
               << "---> this is also the rotation matrix R_KI  which turns the "
-                 "world frame I into the OOBB frame K"
+                 "world coordinate system `I`  into the OOBB coordinate system `K` "
               << std::endl
               << std::endl;
 
@@ -52,8 +52,8 @@ int main(int argc, char** argv)
     oobb.expandToMinExtentAbsolute(0.1);
 
     std::cout << "OOBB with all point included: " << std::endl
-              << "---> lower point in OOBB frame: " << oobb.m_minPoint.transpose() << std::endl
-              << "---> upper point in OOBB frame: " << oobb.m_maxPoint.transpose() << std::endl;
+              << "---> lower point in OOBB coordinate system: " << oobb.m_minPoint.transpose() << std::endl
+              << "---> upper point in OOBB coordinate system: " << oobb.m_maxPoint.transpose() << std::endl;
 
     return 0;
 }

include/ApproxMVBB/AngleFunctions.hpp

@@ -11,9 +11,16 @@
 #ifndef ApproxMVBB_AngleFunctions_hpp
 #define ApproxMVBB_AngleFunctions_hpp
 
+#define _USE_MATH_DEFINES
 #include <cmath>
 #include "ApproxMVBB/Config/Config.hpp"
 #include ApproxMVBB_TypeDefs_INCLUDE_FILE
+
+#define _USE_MATH_DEFINES
+#ifndef M_PI
+#    define M_PI 3.14159265358979323846
+#endif
+
 namespace ApproxMVBB
 {
     namespace AngleFunctions

include/ApproxMVBB/ComputeApproxMVBB.hpp

@@ -298,7 +298,7 @@ namespace ApproxMVBB
         // Define the volume lower bound above we accept a new volume as
         // PREC volumeAcceptTol = oobb.volume() * volumeAcceptFactor;
 
-        // Get the direction of the input OOBB in I frame:
+        // Get the direction of the input OOBB in coordinate system `I` :
         Vector3 dir1 = oobb.getDirection(0);
         Vector3 dir2 = oobb.getDirection(1);
         Vector3 dir3 = oobb.getDirection(2);

include/ApproxMVBB/KdTree.hpp

@@ -1607,9 +1607,9 @@ namespace ApproxMVBB
             }
 
             /** Get cell index of the leaf which owns point \p point
-             * \p point is the d-dimensional point in the frame of reference the kd-Tree
+             * \p point is the d-dimensional point in the coordinate system the kd-Tree
              * was built!
-             * Points outside the roots AABB box, are naturally project to the most outer
+             * Points outside the root AABB box, are naturally project to the most outer
              * leaf automatically.
              */
             template<typename Derived>

include/ApproxMVBB/OOBB.hpp

@@ -76,7 +76,7 @@ namespace ApproxMVBB
         void reset();
 
         /** Add points to this OOBB. The points `p` are assumed to be
-        represented in this OOBB's coordinate system K. */
+        represented in this OOBB's coordinate system `K` . */
         template<typename Derived>
         OOBB& unite(const MatrixBase<Derived>& p)
         {
@@ -89,13 +89,13 @@ namespace ApproxMVBB
             return *this;
         }
 
-        /** Get the center of the OOBB represented in coordinate system K. */
+        /** Get the center of the OOBB represented in coordinate system `K` . */
         inline Vector3 center()
         {
             return 0.5 * (m_maxPoint + m_minPoint);
         }
 
-        /** Get the extent of the OOBB represented in coordinate system K. */
+        /** Get the extent of the OOBB represented in coordinate system `K` . */
         inline Array3 extent() const
         {
             return (m_maxPoint - m_minPoint).array();
@@ -122,14 +122,14 @@ namespace ApproxMVBB
         /** Checks if a point overlaps the OOBB
         @param p                     Input point.
         @param coordinateSystemIsI   Determines if the the input point is represented in
-                                     the coordinate system I or if false they are represented in
-                                     the coordinate system of the OOBB (coordinate system K). */
+                                     the coordinate system `I`  or if false they are represented in
+                                     the coordinate system of the OOBB (coordinate system `K` ). */
         template<typename Derived, bool coordinateSystemIsI = true>
         inline bool overlaps(const MatrixBase<Derived>& p) const
         {
             if(coordinateSystemIsI)
             {
-                // p is in I frame
+                // p is in coordinate system `I` 
                 Vector3 t = m_q_KI.inverse() * p;  // A_IK^T * I_p
                 return ((t.array() >= m_minPoint.array()) && (t.array() <= m_maxPoint.array())).all();
             }
@@ -164,7 +164,7 @@ namespace ApproxMVBB
             return d(0) * d(1) * d(2);
         }
 
-        /** Get direction vectors in the coordinate system I. */
+        /** Get direction vectors in the coordinate system `I` . */
         inline Vector3 getDirection(unsigned int i) const
         {
             ApproxMVBB_ASSERTMSG(i < 3, "Index wrong: " << i) Vector3 d = Vector3::Zero();
@@ -174,9 +174,9 @@ namespace ApproxMVBB
 
         /** Get all corner points of the OOBB.
         @param coordinateSystemIsI   Determines if the the output points are represented in
-                                     the coordinate system I or if false they are represented in
-                                     the coordinate system of the OOBB (coordinate system K).
-        @return A list of all corner points sorted according to (x,y,z) index in coordinate system K. */
+                                     the coordinate system `I`  or if false they are represented in
+                                     the coordinate system of the OOBB (coordinate system `K` ).
+        @return A list of all corner points sorted according to (x,y,z) index in coordinate system `K` . */
         template<bool coordinateSystemIsI = true>
         inline Vector3List getCornerPoints() const
         {
@@ -203,10 +203,10 @@ namespace ApproxMVBB
             return points;
         }
 
-        Quaternion m_q_KI;   /**< Rotation of coordinate system I to the coordinate system K (OOBB),
+        Quaternion m_q_KI;   /**< Rotation of coordinate system `I`  to the coordinate system `K`  (OOBB),
                               corresponds to a transformation A_IK. */
-        Vector3 m_minPoint;  //!< Minimal Point. Represented in coordinate system K (OOBB).
-        Vector3 m_maxPoint;  //!< Maximal Point. Represented in coordinate system K (OOBB).
+        Vector3 m_minPoint;  //!< Minimal Point. Represented in coordinate system `K`  (OOBB).
+        Vector3 m_maxPoint;  //!< Maximal Point. Represented in coordinate system `K`  (OOBB).
     };
 }  // namespace ApproxMVBB
 

include/ApproxMVBB/ProjectedPointSet.hpp

@@ -30,6 +30,11 @@ namespace ApproxMVBB
         ApproxMVBB_DEFINE_MATRIX_TYPES;
         ApproxMVBB_DEFINE_POINTS_CONFIG_TYPES;
 
+	public:
+		ProjectedPointSet();
+		~ProjectedPointSet();
+
+	public:
         template<typename Derived>
         OOBB computeMVBBApprox(const Vector3& zDir, const MatrixBase<Derived>& points, const PREC epsilon)
         {
@@ -50,7 +55,7 @@ namespace ApproxMVBB
             }
             // std::cout <<"estimated 2d diameter: " << dirX.transpose() << " eps: " <<
             // epsilon << std::endl;
-            // Built Coordinate Trafo from frame K to frame M
+            // Built Coordinate Trafo from coordinate system `K`  to coordinate system `M` 
             Matrix22 A2_MK;
             dirX.normalize();
 
@@ -88,8 +93,8 @@ namespace ApproxMVBB
             M_max.head<2>() = aabb.m_maxPoint;
             M_max(2)        = m_maxZValue;
 
-            // Make coordinate transformation from M frame (Minimum Rectancle)
-            // to K frame (Projection Plane);
+            // Make coordinate transformation from `M` coordinate system (Minimum Rectancle)
+            // to `K` coordinate system (Projection Plane);
             Matrix33 A_KM;
             A_KM.setIdentity();
             A_KM.block<2, 2>(0, 0) = A2_MK.transpose();
@@ -152,8 +157,8 @@ namespace ApproxMVBB
             M_max.head<2>() += M_p;
             M_max(2) = m_maxZValue;
 
-            // Make coordinate transformation from M frame (Minimum Rectancle)
-            // to K frame (Projection Plane);
+            // Make coordinate transformation from `M` coordinate system (Minimum Rectancle)
+            // to `K` coordinate system (Projection Plane);
             Matrix33 A_IM;
             // Make A_KM
             A_IM.setIdentity();
@@ -180,7 +185,7 @@ namespace ApproxMVBB
             // std::cout << "dir: " <<  m_zDir << std::endl;
             makeCoordinateSystem(m_zDir, xDir, yDir);
 
-            // Make coodinate transform from frame I to K!
+            // Make coodinate transform from coordinate system `I`  to K!
             m_A_KI.col(0) = xDir;
             m_A_KI.col(1) = yDir;
             m_A_KI.col(2) = m_zDir;
@@ -205,10 +210,10 @@ namespace ApproxMVBB
             }
         }
 
-        Matrix2Dyn m_p;  ///< Projected points in frame K
+        Matrix2Dyn m_p;  ///< Projected points in coordinate system `K` 
 
         Vector3 m_zDir;
-        Matrix33 m_A_KI;  ///< Transformation from I frame into the projection frame K
+        Matrix33 m_A_KI;  ///< Transformation from coordinate system `I`  into the projection coordinate system `K` 
         PREC m_minZValue, m_maxZValue;
     };
 }  // namespace ApproxMVBB

src/ApproxMVBB/OOBB.cpp

@@ -35,7 +35,7 @@ namespace ApproxMVBB
         if(i == 0)
         {
             // Make new x-Axis the z-Axis
-            // R_NK = Rotate around 90∞ around Y, and 90∞ around X (always in K frame) )
+            // R_NK = Rotate around 90∞ around Y, and 90∞ around X (always in `K` coordinate system) )
             // A_IN = A_IK * A_KN = R_KI * R_NK
             m_q_KI = m_q_KI * Quaternion(0.5, 0.5, 0.5, 0.5);
             // Change points  Coordinates I_[x,y,z] -> K_[y,z,x]
@@ -48,7 +48,7 @@ namespace ApproxMVBB
         else
         {
             // Make new y-Axis the z-Axis
-            // R_NK = Rotate around 90∞ around -X, and 90∞ around -Y (always in K frame)
+            // R_NK = Rotate around 90∞ around -X, and 90∞ around -Y (always in `K` coordinate system)
             // )
             // A_IN = A_IK * A_KN = R_KI * R_NK
             m_q_KI = m_q_KI * Quaternion(0.5, -0.5, -0.5, -0.5);

src/ApproxMVBB/ProjectedPointSet.cpp

@@ -0,0 +1,20 @@
+// ========================================================================================
+//  ApproxMVBB
+//  Copyright (C) 2014 by Gabriel Nützi <nuetzig (at) imes (d0t) mavt (d0t) ethz
+//  (døt) ch>
+//
+//  This Source Code Form is subject to the terms of the Mozilla Public
+//  License, v. 2.0. If a copy of the MPL was not distributed with this
+//  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+// ========================================================================================
+#ifndef ApproxMVBB_ProjectedPointSet_cpp
+#define ApproxMVBB_ProjectedPointSet_cpp
+
+#include "ApproxMVBB/ProjectedPointSet.hpp"
+
+namespace ApproxMVBB
+{
+   ProjectedPointSet::ProjectedPointSet() = default;
+   ProjectedPointSet::~ProjectedPointSet() = default;
+}  // namespace ApproxMVBB
+#endif

tests/include/ComputeApproxMVBBTests.hpp

@@ -158,7 +158,7 @@ namespace ApproxMVBB
 
             {
                 // generate points
-                auto t = getPointsFromFile2D("./PointsSimulation2DRectFail.txt");
+                auto t = pf::getPointsFromFile2D("./PointsSimulation2DRectFail.txt");
                 ApproxMVBB::Matrix2Dyn v(2, t.size());
                 for(unsigned int i = 0; i < t.size(); ++i)
                 {
@@ -419,7 +419,7 @@ namespace ApproxMVBB
 
             {
                 // generate points
-                auto v = getPointsFromFile2D("./PointsSimulation2DRectFail.txt");
+                auto v = pf::getPointsFromFile2D("./PointsSimulation2DRectFail.txt");
                 ApproxMVBB::Matrix2Dyn t(2, v.size());
                 for(unsigned int i = 0; i < v.size(); ++i)
                 {

tests/include/TestFunctions.hpp

@@ -25,8 +25,11 @@
 
 #define MY_TEST(name1, name2) TEST(name1, name2)
 #define MY_TEST_RANDOM_STUFF(name1, name2)                                            \
-    std::string testName = #name1 "-" #name2;                                         \
-    auto seed            = hashString(#name2);                                        \
+    using namespace ApproxMVBB;                                                       \
+	namespace pf = ApproxMVBB::PointFunctions;                                        \
+	namespace tf = ApproxMVBB::TestFunctions;                                         \
+	std::string testName = #name1 "-" #name2;                                         \
+    auto seed            = TestFunctions::hashString(#name2);                         \
     std::cout << "Seed for this test: " << seed << std::endl;                         \
     ApproxMVBB::RandomGenerators::DefaultRandomGen rng(seed);                         \
     ApproxMVBB::RandomGenerators::DefaultUniformRealDistribution<PREC> uni(0.0, 1.0); \