coal/shape/geometric_shapes_traits.h

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#ifndef COAL_GEOMETRIC_SHAPES_TRAITS_H
#define COAL_GEOMETRIC_SHAPES_TRAITS_H
 
#include "coal/shape/geometric_shapes.h"
 
namespace coal {
 
struct shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = false,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = false
  };
};
 
template <typename Shape>
struct shape_traits : shape_traits_base {};
 
template <>
struct shape_traits<TriangleP> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = false
  };
};
 
template <>
struct shape_traits<Box> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = false
  };
};
 
template <>
struct shape_traits<Sphere> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = true
  };
};
 
template <>
struct shape_traits<Ellipsoid> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = true
  };
};
 
template <>
struct shape_traits<Capsule> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = false
  };
};
 
template <>
struct shape_traits<Cone> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = false
  };
};
 
template <>
struct shape_traits<Cylinder> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = false
  };
};
 
template <>
struct shape_traits<ConvexBase> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = true,
    IsInflatable = true,
    HasInflatedSupportFunction = true,
    IsStrictlyConvex = false
  };
};
 
template <>
struct shape_traits<Halfspace> : shape_traits_base {
  enum {
    NeedNormalizedDir = false,
    NeedNesterovNormalizeHeuristic = false,
    IsInflatable = true,
    HasInflatedSupportFunction = false,
    IsStrictlyConvex = false
  };
};
 
}  // namespace coal
 
#endif  // ifndef COAL_GEOMETRIC_SHAPES_TRAITS_H