.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_OBBRSS.h:

Program Listing for File OBBRSS.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_OBBRSS.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/BV/OBBRSS.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,
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    *  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_OBBRSS_H
   #define HPP_FCL_OBBRSS_H
   
   #include <hpp/fcl/BV/OBB.h>
   #include <hpp/fcl/BV/RSS.h>
   
   namespace hpp {
   namespace fcl {
   
   struct CollisionRequest;
   
   
   struct HPP_FCL_DLLAPI OBBRSS {
     OBB obb;
   
     RSS rss;
   
     bool operator==(const OBBRSS& other) const {
       return obb == other.obb && rss == other.rss;
     }
   
     bool operator!=(const OBBRSS& other) const { return !(*this == other); }
   
     inline bool contain(const Vec3f& p) const { return obb.contain(p); }
   
     bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }
   
     bool overlap(const OBBRSS& other, const CollisionRequest& request,
                  FCL_REAL& sqrDistLowerBound) const {
       return obb.overlap(other.obb, request, sqrDistLowerBound);
     }
   
     FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL,
                       Vec3f* Q = NULL) const {
       return rss.distance(other.rss, P, Q);
     }
   
     OBBRSS& operator+=(const Vec3f& p) {
       obb += p;
       rss += p;
       return *this;
     }
   
     OBBRSS& operator+=(const OBBRSS& other) {
       *this = *this + other;
       return *this;
     }
   
     OBBRSS operator+(const OBBRSS& other) const {
       OBBRSS result;
       result.obb = obb + other.obb;
       result.rss = rss + other.rss;
       return result;
     }
   
     inline FCL_REAL size() const { return obb.size(); }
   
     inline const Vec3f& center() const { return obb.center(); }
   
     inline FCL_REAL width() const { return obb.width(); }
   
     inline FCL_REAL height() const { return obb.height(); }
   
     inline FCL_REAL depth() const { return obb.depth(); }
   
     inline FCL_REAL volume() const { return obb.volume(); }
   };
   
   inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                       const OBBRSS& b2) {
     return overlap(R0, T0, b1.obb, b2.obb);
   }
   
   inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                       const OBBRSS& b2, const CollisionRequest& request,
                       FCL_REAL& sqrDistLowerBound) {
     return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
   }
   
   inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                            const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL) {
     return distance(R0, T0, b1.rss, b2.rss, P, Q);
   }
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif