kIOS.h

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/*
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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#ifndef FCL_BV_KIOS_H
#define FCL_BV_KIOS_H
 
#include "fcl/math/bv/OBB.h"
 
namespace fcl
{
 
template <typename S_>
class FCL_EXPORT kIOS
{
  struct kIOS_Sphere
  {
    Vector3<S_> o;
    S_ r;
  };
 
  static kIOS_Sphere encloseSphere(
      const kIOS_Sphere& s0, const kIOS_Sphere& s1);
 
public:
 
  using S = S_;
 
  kIOS_Sphere spheres[5];
 
  unsigned int num_spheres;
 
  OBB<S> obb;
 
  bool overlap(const kIOS<S>& other) const;
 
  bool overlap(const kIOS<S>& other, kIOS<S>& overlap_part) const;
 
  bool contain(const Vector3<S>& p) const;
 
  kIOS<S>& operator += (const Vector3<S>& p);
 
  kIOS<S>& operator += (const kIOS<S>& other);
 
  kIOS<S> operator + (const kIOS<S>& other) const;
 
  const Vector3<S>& center() const;
 
  S width() const;
 
  S height() const;
 
  S depth() const;
 
  S volume() const;
 
  S size() const;
 
  S distance(
      const kIOS<S>& other,
      Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
 
  static constexpr S ratio() { return 1.5; }
  static constexpr S invSinA() { return 2; }
  static S cosA() { return std::sqrt(3.0) / 2.0; }
};
 
using kIOSf = kIOS<float>;
using kIOSd = kIOS<double>;
 
template <typename S, typename Derived>
FCL_EXPORT
kIOS<S> translate(
    const kIOS<S>& bv, const Eigen::MatrixBase<Derived>& t);
 
template <typename S, typename DerivedA, typename DerivedB>
FCL_EXPORT
bool overlap(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const kIOS<S>& b1, const kIOS<S>& b2);
 
template <typename S>
FCL_EXPORT
bool overlap(
    const Transform3<S>& tf,
    const kIOS<S>& b1,
    const kIOS<S>& b2);
 
template <typename S, typename DerivedA, typename DerivedB>
FCL_EXPORT
S distance(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const kIOS<S>& b1,
    const kIOS<S>& b2,
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);
 
template <typename S>
FCL_EXPORT
S distance(
    const Transform3<S>& tf,
    const kIOS<S>& b1,
    const kIOS<S>& b2,
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);
 
} // namespace fcl
 
#include "fcl/math/bv/kIOS-inl.h"
 
#endif