Program Listing for File kDOP.h
↰ Return to documentation for file (/tmp/ws/src/hpp-fcl/include/hpp/fcl/BV/kDOP.h
)
/*
* 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