.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_kIOS.h:

Program Listing for File kIOS.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_kIOS.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/BV/kIOS.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
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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_KIOS_H
   #define HPP_FCL_KIOS_H
   
   #include <hpp/fcl/BV/OBB.h>
   
   namespace hpp {
   namespace fcl {
   
   struct CollisionRequest;
   
   
   class HPP_FCL_DLLAPI kIOS {
     struct HPP_FCL_DLLAPI kIOS_Sphere {
       Vec3f o;
       FCL_REAL r;
   
       bool operator==(const kIOS_Sphere& other) const {
         return o == other.o && r == other.r;
       }
   
       bool operator!=(const kIOS_Sphere& other) const {
         return !(*this == other);
       }
     };
   
     static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0,
                                      const kIOS_Sphere& s1) {
       Vec3f d = s1.o - s0.o;
       FCL_REAL dist2 = d.squaredNorm();
       FCL_REAL diff_r = s1.r - s0.r;
   
       if (diff_r * diff_r >= dist2) {
         if (s1.r > s0.r)
           return s1;
         else
           return s0;
       } else 
       {
         float dist = (float)std::sqrt(dist2);
         kIOS_Sphere s;
         s.r = dist + s0.r + s1.r;
         if (dist > 0)
           s.o = s0.o + d * ((s.r - s0.r) / dist);
         else
           s.o = s0.o;
         return s;
       }
     }
   
    public:
     bool operator==(const kIOS& other) const {
       bool res = obb == other.obb && num_spheres == other.num_spheres;
       if (!res) return false;
   
       for (size_t k = 0; k < num_spheres; ++k) {
         if (spheres[k] != other.spheres[k]) return false;
       }
   
       return true;
     }
   
     bool operator!=(const kIOS& other) const { return !(*this == other); }
   
     kIOS_Sphere spheres[5];
   
     unsigned int num_spheres;
   
     OBB obb;
   
     bool contain(const Vec3f& p) const;
   
     bool overlap(const kIOS& other) const;
   
     bool overlap(const kIOS& other, const CollisionRequest&,
                  FCL_REAL& sqrDistLowerBound) const;
   
     FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
   
     kIOS& operator+=(const Vec3f& p);
   
     kIOS& operator+=(const kIOS& other) {
       *this = *this + other;
       return *this;
     }
   
     kIOS operator+(const kIOS& other) const;
   
     FCL_REAL size() const;
   
     const Vec3f& center() const { return spheres[0].o; }
   
     FCL_REAL width() const;
   
     FCL_REAL height() const;
   
     FCL_REAL depth() const;
   
     FCL_REAL volume() const;
   };
   
   HPP_FCL_DLLAPI kIOS translate(const kIOS& bv, const Vec3f& t);
   
   HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
                               const kIOS& b2);
   
   HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
                               const kIOS& b2, const CollisionRequest& request,
                               FCL_REAL& sqrDistLowerBound);
   
   HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
                                    const kIOS& b1, const kIOS& b2,
                                    Vec3f* P = NULL, Vec3f* Q = NULL);
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif