add containsPoint() method

MRPT · Sep 21, 2021 · d7d180e · d7d180e
1 parent 78ea3a0
commit d7d180e
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diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -23,6 +23,7 @@
   - \ref mrpt_math_grp
     - New function mrpt::math::xcorr()
     - New header `<mrpt/math/gtsam_wrappers.h>`, see \ref mrpt_gtsam_wrappers
+    - New method mrpt::math::TBoundingBox::containsPoint()
   - \ref mrpt_maps_grp
     - Optimization: mrpt::maps::CPointsMap::insertAnotherMap() avoids matrix multiplication if SE(3) identity is passed as insertion pose.
   - \ref mrpt_nav_grp

diff --git a/libs/math/include/mrpt/math/TBoundingBox.h b/libs/math/include/mrpt/math/TBoundingBox.h
@@ -107,6 +107,16 @@ struct TBoundingBox_
 		mrpt::keep_max(max.z, p.z);
 	}
 
+	/** Returns true if the point lies within the bounding box (including the
+	 * exact border)
+	 * \note (New in MRPT 2.3.3)
+	 */
+	bool containsPoint(const mrpt::math::TPoint3D_<T>& p) const
+	{
+		return p.x >= min.x && p.y >= min.y && p.z >= min.z && p.x <= max.x &&
+			p.y <= max.y && p.z <= max.z;
+	}
+
 	/** Returns a new bounding box, transforming `this` from local coordinates
 	 * to global coordinates, as if `this` was given with respect to `pose`, ie:
 	 *