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#ifndef LINALG_H_
#define LINALG_H_
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/Dense>
using Eigen::Vector2d;
using Eigen::Vector3d;
using Eigen::Vector3f;
typedef Eigen::AlignedBox<double, 3> BoundingBox;
using Eigen::Matrix3f;
using Eigen::Matrix3d;
using Eigen::Matrix4d;
using Eigen::Transform3d;
BoundingBox operator*(const Transform3d &m, const BoundingBox &box);
class Color4f : public Eigen::Vector4f
Color4f() { }
Color4f(int r, int g, int b, int a = 255) { setRgb(r,g,b,a); }
Color4f(float r, float g, float b, float a = 1.0f) : Eigen::Vector4f(r, g, b, a) { }
void setRgb(int r, int g, int b, int a = 255) {
*this << r/255.0f, g/255.0f, b/255.0f, a/255.0f;
bool isValid() const { return this->minCoeff() >= 0.0f; }
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