.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_kDOP.h:

Program Listing for File kDOP.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_kDOP.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/BV/kDOP.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_KDOP_H
   #define HPP_FCL_KDOP_H
   
   #include <hpp/fcl/fwd.hh>
   #include <hpp/fcl/data_types.h>
   
   namespace hpp {
   namespace fcl {
   
   struct CollisionRequest;
   
   
   template <short N>
   class HPP_FCL_DLLAPI KDOP {
    protected:
     Eigen::Array<FCL_REAL, N, 1> dist_;
   
    public:
     KDOP();
   
     KDOP(const Vec3f& v);
   
     KDOP(const Vec3f& a, const Vec3f& b);
   
     bool operator==(const KDOP& other) const {
       return (dist_ == other.dist_).all();
     }
   
     bool operator!=(const KDOP& other) const {
       return (dist_ != other.dist_).any();
     }
   
     bool overlap(const KDOP<N>& other) const;
   
     bool overlap(const KDOP<N>& other, const CollisionRequest& request,
                  FCL_REAL& sqrDistLowerBound) const;
   
     FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL,
                       Vec3f* Q = NULL) 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 size() const {
       return width() * width() + height() * height() + depth() * depth();
     }
   
     inline Vec3f center() const {
       return (dist_.template head<3>() + dist_.template segment<3>(N / 2)) / 2;
     }
   
     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 dist(short i) const { return dist_[i]; }
   
     inline FCL_REAL& dist(short i) { return dist_[i]; }
   
     bool inside(const Vec3f& p) const;
   
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
   
   template <short N>
   bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/, const KDOP<N>& /*b1*/,
                const KDOP<N>& /*b2*/) {
     HPP_FCL_THROW_PRETTY("not implemented", std::logic_error);
   }
   
   template <short N>
   bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/, const KDOP<N>& /*b1*/,
                const KDOP<N>& /*b2*/, const CollisionRequest& /*request*/,
                FCL_REAL& /*sqrDistLowerBound*/) {
     HPP_FCL_THROW_PRETTY("not implemented", std::logic_error);
   }
   
   template <short N>
   HPP_FCL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t);
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif