kDOP.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef FCL_KDOP_H
#define FCL_KDOP_H


#include "fcl/math/vec_3f.h"

namespace fcl
{


template<size_t N>
class KDOP
{
public:

  KDOP();

  KDOP(const Vec3f& v);

  KDOP(const Vec3f& a, const Vec3f& b);
  
  bool overlap(const KDOP<N>& other) const;

  bool inside(const Vec3f& p) const;

  KDOP<N>& operator += (const Vec3f& p);

  KDOP<N>& operator += (const KDOP<N>& other);

  KDOP<N> operator + (const KDOP<N>& other) const;

  inline FCL_REAL width() const
  {
    return dist_[N / 2] - dist_[0];
  }

  inline FCL_REAL height() const
  {
    return dist_[N / 2 + 1] - dist_[1];
  }

  inline FCL_REAL depth() const
  {
    return dist_[N / 2 + 2] - dist_[2];
  }

  inline FCL_REAL volume() const
  {
    return width() * height() * depth();
  }

  inline FCL_REAL size() const
  {
    return width() * width() + height() * height() + depth() * depth();
  }

  inline Vec3f center() const
  {
    return Vec3f(dist_[0] + dist_[N / 2], dist_[1] + dist_[N / 2 + 1], dist_[2] + dist_[N / 2 + 2]) * 0.5;
  }

  FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;

private:
  FCL_REAL dist_[N];

public:
  inline FCL_REAL dist(std::size_t i) const
  {
    return dist_[i];
  }

  inline FCL_REAL& dist(std::size_t i)
  {
    return dist_[i];
  }


};


template<size_t N>
KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t);

}

#endif