.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BVH_BVH_utility.h:

Program Listing for File BVH_utility.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BVH_BVH_utility.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/BVH/BVH_utility.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, Open Source Robotics Foundation
    *  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 Open Source Robotics Foundation 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 HPP_FCL_BVH_UTILITY_H
   #define HPP_FCL_BVH_UTILITY_H
   
   #include <hpp/fcl/BVH/BVH_model.h>
   
   namespace hpp {
   namespace fcl {
   template <typename BV>
   HPP_FCL_DLLAPI BVHModel<BV>* BVHExtract(const BVHModel<BV>& model,
                                           const Transform3f& pose,
                                           const AABB& aabb);
   
   template <>
   HPP_FCL_DLLAPI BVHModel<OBB>* BVHExtract(const BVHModel<OBB>& model,
                                            const Transform3f& pose,
                                            const AABB& aabb);
   template <>
   HPP_FCL_DLLAPI BVHModel<AABB>* BVHExtract(const BVHModel<AABB>& model,
                                             const Transform3f& pose,
                                             const AABB& aabb);
   template <>
   HPP_FCL_DLLAPI BVHModel<RSS>* BVHExtract(const BVHModel<RSS>& model,
                                            const Transform3f& pose,
                                            const AABB& aabb);
   template <>
   HPP_FCL_DLLAPI BVHModel<kIOS>* BVHExtract(const BVHModel<kIOS>& model,
                                             const Transform3f& pose,
                                             const AABB& aabb);
   template <>
   HPP_FCL_DLLAPI BVHModel<OBBRSS>* BVHExtract(const BVHModel<OBBRSS>& model,
                                               const Transform3f& pose,
                                               const AABB& aabb);
   template <>
   HPP_FCL_DLLAPI BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model,
                                                  const Transform3f& pose,
                                                  const AABB& aabb);
   template <>
   HPP_FCL_DLLAPI BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model,
                                                  const Transform3f& pose,
                                                  const AABB& aabb);
   template <>
   HPP_FCL_DLLAPI BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model,
                                                  const Transform3f& pose,
                                                  const AABB& aabb);
   
   HPP_FCL_DLLAPI void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts,
                                     unsigned int* indices, unsigned int n,
                                     Matrix3f& M);
   
   HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(
       Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n,
       const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
   
   HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts,
                                          unsigned int* indices, unsigned int n,
                                          Matrix3f& axes, Vec3f& center,
                                          Vec3f& extent);
   
   HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f& a, const Vec3f& b,
                                               const Vec3f& c, Vec3f& center,
                                               FCL_REAL& radius);
   
   HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts,
                                           unsigned int* indices, unsigned int n,
                                           const Vec3f& query);
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif