aabb.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019, Open Robotics
 *  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 the Open Robotics 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.
 *********************************************************************/

/* Author: Martin Pecka */

#include <geometric_shapes/aabb.h>

#include <fcl/config.h>
#if FCL_MAJOR_VERSION > 0 || FCL_MINOR_VERSION > 5
#include <fcl/geometry/shape/utility.h>
#endif

void bodies::AABB::extendWithTransformedBox(const Eigen::Isometry3d& transform, const Eigen::Vector3d& box)
{
#if FCL_MAJOR_VERSION == 0 && FCL_MINOR_VERSION <= 5
  // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) (BSD-licensed code):
  // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
  // We don't call their code because it would need creating temporary objects, and their method is in floats in FCL 0.5
  //
  // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
  const Eigen::Matrix3d& r = transform.rotation();
  const Eigen::Vector3d& t = transform.translation();

  double x_range = 0.5 * (fabs(r(0, 0) * box[0]) + fabs(r(0, 1) * box[1]) + fabs(r(0, 2) * box[2]));
  double y_range = 0.5 * (fabs(r(1, 0) * box[0]) + fabs(r(1, 1) * box[1]) + fabs(r(1, 2) * box[2]));
  double z_range = 0.5 * (fabs(r(2, 0) * box[0]) + fabs(r(2, 1) * box[1]) + fabs(r(2, 2) * box[2]));

  const Eigen::Vector3d v_delta(x_range, y_range, z_range);
  extend(t + v_delta);
  extend(t - v_delta);
#else
  fcl::AABBd aabb;
  fcl::computeBV(fcl::Boxd(box), transform, aabb);
  extend(aabb.min_);
  extend(aabb.max_);
#endif
}