Program Listing for File RSS.h

↰ Return to documentation for file (include/coal/BV/RSS.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 COAL_RSS_H
#define COAL_RSS_H

#include "coal/data_types.h"

#include <boost/math/constants/constants.hpp>

namespace coal {

struct CollisionRequest;


struct COAL_DLLAPI RSS {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Matrix3s axes;

  Vec3s Tr;

  CoalScalar length[2];

  CoalScalar radius;

  RSS() : axes(Matrix3s::Zero()), Tr(Vec3s::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 Vec3s& p) const;

  bool overlap(const RSS& other) const;

  bool overlap(const RSS& other, const CollisionRequest&,
               CoalScalar& sqrDistLowerBound) const {
    sqrDistLowerBound = sqrt(-1);
    return overlap(other);
  }

  CoalScalar distance(const RSS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;

  RSS& operator+=(const Vec3s& p);

  inline RSS& operator+=(const RSS& other) {
    *this = *this + other;
    return *this;
  }

  RSS operator+(const RSS& other) const;

  inline CoalScalar size() const {
    return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
            2 * radius);
  }

  inline const Vec3s& center() const { return Tr; }

  inline CoalScalar width() const { return length[0] + 2 * radius; }

  inline CoalScalar height() const { return length[1] + 2 * radius; }

  inline CoalScalar depth() const { return 2 * radius; }

  inline CoalScalar volume() const {
    return (length[0] * length[1] * 2 * radius +
            4 * boost::math::constants::pi<CoalScalar>() * radius * radius *
                radius);
  }

  bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
    return overlap(other);
  }
};

COAL_DLLAPI CoalScalar distance(const Matrix3s& R0, const Vec3s& T0,
                                const RSS& b1, const RSS& b2, Vec3s* P = NULL,
                                Vec3s* Q = NULL);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                         const RSS& b2);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                         const RSS& b2, const CollisionRequest& request,
                         CoalScalar& sqrDistLowerBound);

}  // namespace coal

#endif