.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_RSS.h:

Program Listing for File RSS.h
==============================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_RSS.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/BV/RSS.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
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    *  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.
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    *     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
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    */
   
   #ifndef HPP_FCL_RSS_H
   #define HPP_FCL_RSS_H
   
   #include <hpp/fcl/data_types.h>
   #include <boost/math/constants/constants.hpp>
   
   namespace hpp {
   namespace fcl {
   
   struct CollisionRequest;
   
   
   struct HPP_FCL_DLLAPI RSS {
     Matrix3f axes;
   
     Vec3f Tr;
   
     FCL_REAL length[2];
   
     FCL_REAL radius;
   
     RSS() : axes(Matrix3f::Zero()), Tr(Vec3f::Zero()), radius(-1) {
       length[0] = 0;
       length[1] = 0;
     }
   
     bool operator==(const RSS& other) const {
       return axes == other.axes && Tr == other.Tr &&
              length[0] == other.length[0] && length[1] == other.length[1] &&
              radius == other.radius;
     }
   
     bool operator!=(const RSS& other) const { return !(*this == other); }
   
     bool contain(const Vec3f& p) const;
   
     bool overlap(const RSS& other) const;
   
     bool overlap(const RSS& other, const CollisionRequest&,
                  FCL_REAL& sqrDistLowerBound) const {
       sqrDistLowerBound = sqrt(-1);
       return overlap(other);
     }
   
     FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
   
     RSS& operator+=(const Vec3f& p);
   
     inline RSS& operator+=(const RSS& other) {
       *this = *this + other;
       return *this;
     }
   
     RSS operator+(const RSS& other) const;
   
     inline FCL_REAL size() const {
       return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
               2 * radius);
     }
   
     inline const Vec3f& center() const { return Tr; }
   
     inline FCL_REAL width() const { return length[0] + 2 * radius; }
   
     inline FCL_REAL height() const { return length[1] + 2 * radius; }
   
     inline FCL_REAL depth() const { return 2 * radius; }
   
     inline FCL_REAL volume() const {
       return (length[0] * length[1] * 2 * radius +
               4 * boost::math::constants::pi<FCL_REAL>() * radius * radius *
                   radius);
     }
   
     bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
       return overlap(other);
     }
   };
   
   HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
                                    const RSS& b1, const RSS& b2, Vec3f* P = NULL,
                                    Vec3f* Q = NULL);
   
   HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1,
                               const RSS& b2);
   
   HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1,
                               const RSS& b2, const CollisionRequest& request,
                               FCL_REAL& sqrDistLowerBound);
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif