interval.h

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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
#ifndef FCL_CCD_INTERVAL_H
#define FCL_CCD_INTERVAL_H
 
#include <iostream>
#include "fcl/common/types.h"
 
namespace fcl
{
 
template <typename S>
struct FCL_EXPORT Interval
{
  S i_[2];
 
  Interval();
 
  explicit Interval(S v);
 
  Interval(S left, S right);
 
  void setValue(S a, S b);
 
  void setValue(S x);
 
  S operator [] (size_t i) const;
 
  S& operator [] (size_t i);
 
  bool operator == (const Interval& other) const;
 
  Interval operator + (const Interval& other) const;
 
  Interval operator - (const Interval& other) const;
 
  Interval& operator += (const Interval& other);
 
  Interval& operator -= (const Interval& other);
 
  Interval operator * (const Interval& other) const;
 
  Interval& operator *= (const Interval& other);
 
  Interval operator * (S d) const;
 
  Interval& operator *= (S d);
 
  Interval operator / (const Interval& other) const;
 
  Interval& operator /= (const Interval& other);
 
  bool overlap(const Interval& other) const;
 
  bool intersect(const Interval& other);
 
  Interval operator - () const;
 
  S getAbsLower() const;
 
  S getAbsUpper() const;
 
  bool contains(S v) const;
 
  Interval& bound(S v);
 
  Interval& bound(const Interval& other);
 
  void print() const;
 
  S center() const;
 
  S diameter() const;
};
 
template <typename S>
FCL_EXPORT
Interval<S> bound(const Interval<S>& i, S v);
 
template <typename S>
FCL_EXPORT
Interval<S> bound(const Interval<S>& i, const Interval<S>& other);
 
} // namespace fcl
 
#include "fcl/math/motion/taylor_model/interval-inl.h"
 
#endif