.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_BV_fitter.h:

Program Listing for File BV_fitter.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_BV_fitter.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/internal/BV_fitter.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_BV_FITTER_H
   #define HPP_FCL_BV_FITTER_H
   
   #include <hpp/fcl/BVH/BVH_internal.h>
   #include <hpp/fcl/BV/kIOS.h>
   #include <hpp/fcl/BV/OBBRSS.h>
   #include <hpp/fcl/BV/AABB.h>
   #include <iostream>
   
   namespace hpp {
   namespace fcl {
   
   template <typename BV>
   void fit(Vec3f* ps, unsigned int n, BV& bv) {
     for (unsigned int i = 0; i < n; ++i)  // TODO(jcarpent): vectorize
     {
       bv += ps[i];
     }
   }
   
   template <>
   void fit<OBB>(Vec3f* ps, unsigned int n, OBB& bv);
   
   template <>
   void fit<RSS>(Vec3f* ps, unsigned int n, RSS& bv);
   
   template <>
   void fit<kIOS>(Vec3f* ps, unsigned int n, kIOS& bv);
   
   template <>
   void fit<OBBRSS>(Vec3f* ps, unsigned int n, OBBRSS& bv);
   
   template <>
   void fit<AABB>(Vec3f* ps, unsigned int n, AABB& bv);
   
   template <typename BV>
   class HPP_FCL_DLLAPI BVFitterTpl {
    public:
     virtual ~BVFitterTpl() {}
   
     void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_) {
       vertices = vertices_;
       prev_vertices = NULL;
       tri_indices = tri_indices_;
       type = type_;
     }
   
     void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_,
              BVHModelType type_) {
       vertices = vertices_;
       prev_vertices = prev_vertices_;
       tri_indices = tri_indices_;
       type = type_;
     }
   
     virtual BV fit(unsigned int* primitive_indices,
                    unsigned int num_primitives) = 0;
   
     void clear() {
       vertices = NULL;
       prev_vertices = NULL;
       tri_indices = NULL;
       type = BVH_MODEL_UNKNOWN;
     }
   
    protected:
     Vec3f* vertices;
     Vec3f* prev_vertices;
     Triangle* tri_indices;
     BVHModelType type;
   };
   
   template <typename BV>
   class HPP_FCL_DLLAPI BVFitter : public BVFitterTpl<BV> {
     typedef BVFitterTpl<BV> Base;
   
    public:
     BV fit(unsigned int* primitive_indices, unsigned int num_primitives) {
       BV bv;
   
       if (type == BVH_MODEL_TRIANGLES)  
       {
         for (unsigned int i = 0; i < num_primitives; ++i) {
           Triangle t = tri_indices[primitive_indices[i]];
           bv += vertices[t[0]];
           bv += vertices[t[1]];
           bv += vertices[t[2]];
   
           if (prev_vertices)  
           {
             bv += prev_vertices[t[0]];
             bv += prev_vertices[t[1]];
             bv += prev_vertices[t[2]];
           }
         }
       } else if (type == BVH_MODEL_POINTCLOUD)  
       {
         for (unsigned int i = 0; i < num_primitives; ++i) {
           bv += vertices[primitive_indices[i]];
   
           if (prev_vertices)  
           {
             bv += prev_vertices[primitive_indices[i]];
           }
         }
       }
   
       return bv;
     }
   
    protected:
     using Base::prev_vertices;
     using Base::tri_indices;
     using Base::type;
     using Base::vertices;
   };
   
   template <>
   class HPP_FCL_DLLAPI BVFitter<OBB> : public BVFitterTpl<OBB> {
    public:
     OBB fit(unsigned int* primitive_indices, unsigned int num_primitives);
   };
   
   template <>
   class HPP_FCL_DLLAPI BVFitter<RSS> : public BVFitterTpl<RSS> {
    public:
     RSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
   };
   
   template <>
   class HPP_FCL_DLLAPI BVFitter<kIOS> : public BVFitterTpl<kIOS> {
    public:
     kIOS fit(unsigned int* primitive_indices, unsigned int num_primitives);
   };
   
   template <>
   class HPP_FCL_DLLAPI BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS> {
    public:
     OBBRSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
   };
   
   template <>
   class HPP_FCL_DLLAPI BVFitter<AABB> : public BVFitterTpl<AABB> {
    public:
     AABB fit(unsigned int* primitive_indices, unsigned int num_primitives);
   };
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif