AABB.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, 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 FCL_BV_AABB_H
#define FCL_BV_AABB_H
 
#include "fcl/common/types.h"
 
namespace fcl
{
 
template <typename S_>
class FCL_EXPORT AABB
{
public:
 
  using S = S_;
 
  Vector3<S> min_;
 
  Vector3<S> max_;
 
  AABB();
 
  AABB(const Vector3<S>& v);
 
  AABB(const Vector3<S>& a, const Vector3<S>&b);
 
  AABB(const AABB<S>& core, const Vector3<S>& delta);
 
  AABB(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c);
 
  bool overlap(const AABB<S>& other) const;
 
  bool contain(const AABB<S>& other) const;
 
  bool axisOverlap(const AABB<S>& other, int axis_id) const;
 
  bool overlap(const AABB<S>& other, AABB<S>& overlap_part) const;
 
  bool contain(const Vector3<S>& p) const;
 
  AABB<S>& operator += (const Vector3<S>& p);
 
  AABB<S>& operator += (const AABB<S>& other);
 
  AABB<S> operator + (const AABB<S>& other) const;
 
  S width() const;
 
  S height() const;
 
  S depth() const;
 
  S volume() const;
 
  S size() const;
 
  S radius() const;
 
  Vector3<S> center() const;
 
  S distance(const AABB<S>& other, Vector3<S>* P, Vector3<S>* Q) const;
 
  S distance(const AABB<S>& other) const;
 
  bool equal(const AABB<S>& other) const;
 
  AABB<S>& expand(const Vector3<S>& delta);
 
  AABB<S>& expand(const AABB<S>& core, S ratio);
};
 
using AABBf = AABB<float>;
using AABBd = AABB<double>;
 
template <typename S, typename Derived>
AABB<S> translate(
    const AABB<S>& aabb, const Eigen::MatrixBase<Derived>& t);
 
} // namespace fcl
 
#include "fcl/math/bv/AABB-inl.h"
 
#endif