aabb.cpp
Go to the documentation of this file.
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2013, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Martin Pecka */
36 
38 
39 void moveit::core::AABB::extendWithTransformedBox(const Eigen::Affine3d& transform, const Eigen::Vector3d& box)
40 {
41  // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) (BSD-licensed code):
42  // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
43  // We don't call their code because it would need creating temporary objects, and their method is in floats.
44  //
45  // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
46 
47  const Eigen::Matrix3d& R = transform.linear();
48  const Eigen::Vector3d& T = transform.translation();
49 
50  double x_range = 0.5 * (fabs(R(0, 0) * box[0]) + fabs(R(0, 1) * box[1]) + fabs(R(0, 2) * box[2]));
51  double y_range = 0.5 * (fabs(R(1, 0) * box[0]) + fabs(R(1, 1) * box[1]) + fabs(R(1, 2) * box[2]));
52  double z_range = 0.5 * (fabs(R(2, 0) * box[0]) + fabs(R(2, 1) * box[1]) + fabs(R(2, 2) * box[2]));
53 
54  const Eigen::Vector3d v_delta(x_range, y_range, z_range);
55  extend(T + v_delta);
56  extend(T - v_delta);
57 }
void extendWithTransformedBox(const Eigen::Affine3d &transform, const Eigen::Vector3d &box)
Extend with a box transformed by the given transform.
Definition: aabb.cpp:39


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jul 10 2019 04:03:04