ellipsoid.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_SHAPE_ELLIPSOID_H
39 #define FCL_SHAPE_ELLIPSOID_H
40 
41 #include <ostream>
42 #include <string>
43 
44 #include "fcl/geometry/shape/shape_base.h"
45 
46 namespace fcl
47 {
48 
50 template <typename S_>
51 class FCL_EXPORT Ellipsoid : public ShapeBase<S_>
52 {
53 public:
54 
55  using S = S_;
56 
58  Ellipsoid(S a, S b, S c);
59 
61  Ellipsoid(const Vector3<S>& radii);
62 
64  Vector3<S> radii;
65 
67  void computeLocalAABB() override;
68 
70  NODE_TYPE getNodeType() const override;
71 
72  // Documentation inherited
73  Matrix3<S> computeMomentofInertia() const override;
74 
75  // Documentation inherited
76  S computeVolume() const override;
77 
80  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
81 
87  std::string representation(int precision = 20) const;
88 
89  friend
90  std::ostream& operator<<(std::ostream& out, const Ellipsoid& ellipsoid) {
91  out << "Ellipsoid(radii: " << ellipsoid.radii.transpose() << ")";
92  return out;
93  }
94 };
95 
96 using Ellipsoidf = Ellipsoid<float>;
97 using Ellipsoidd = Ellipsoid<double>;
98 
99 } // namespace fcl
100 
101 #include "fcl/geometry/shape/ellipsoid-inl.h"
102 
103 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::Ellipsoid::radii
Vector3< S > radii
Radii of the ellipsoid.
Definition: ellipsoid.h:64
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
shape_base.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::Ellipsoid::S
S_ S
Definition: ellipsoid.h:55
fcl::Ellipsoid::operator<<
friend std::ostream & operator<<(std::ostream &out, const Ellipsoid &ellipsoid)
Definition: ellipsoid.h:90
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::Ellipsoid
Center at zero point ellipsoid.
Definition: ellipsoid.h:51
ellipsoid-inl.h

fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:48