Program Listing for File kDOP.h

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#ifndef COAL_KDOP_H
#define COAL_KDOP_H

#include "coal/fwd.hh"
#include "coal/data_types.h"

namespace coal {

struct CollisionRequest;


template <short N>
class COAL_DLLAPI KDOP {
 protected:
  Eigen::Array<CoalScalar, N, 1> dist_;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  KDOP();

  KDOP(const Vec3s& v);

  KDOP(const Vec3s& a, const Vec3s& 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,
               CoalScalar& sqrDistLowerBound) const;

  CoalScalar distance(const KDOP<N>& other, Vec3s* P = NULL,
                      Vec3s* Q = NULL) const;

  KDOP<N>& operator+=(const Vec3s& p);

  KDOP<N>& operator+=(const KDOP<N>& other);

  KDOP<N> operator+(const KDOP<N>& other) const;

  inline CoalScalar size() const {
    return width() * width() + height() * height() + depth() * depth();
  }

  inline Vec3s center() const {
    return (dist_.template head<3>() + dist_.template segment<3>(N / 2)) / 2;
  }

  inline CoalScalar width() const { return dist_[N / 2] - dist_[0]; }

  inline CoalScalar height() const { return dist_[N / 2 + 1] - dist_[1]; }

  inline CoalScalar depth() const { return dist_[N / 2 + 2] - dist_[2]; }

  inline CoalScalar volume() const { return width() * height() * depth(); }

  inline CoalScalar dist(short i) const { return dist_[i]; }

  inline CoalScalar& dist(short i) { return dist_[i]; }

  bool inside(const Vec3s& p) const;
};

template <short N>
bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
             const KDOP<N>& /*b2*/) {
  COAL_THROW_PRETTY("not implemented", std::logic_error);
}

template <short N>
bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
             const KDOP<N>& /*b2*/, const CollisionRequest& /*request*/,
             CoalScalar& /*sqrDistLowerBound*/) {
  COAL_THROW_PRETTY("not implemented", std::logic_error);
}

template <short N>
COAL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3s& t);

}  // namespace coal

#endif