obb.h

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/* Author: Martin Pecka */

#ifndef GEOMETRIC_SHAPES_OBB_H
#define GEOMETRIC_SHAPES_OBB_H

#include <memory>

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <eigen_stl_containers/eigen_stl_containers.h>
#include <geometric_shapes/aabb.h>

namespace bodies
{
class OBBPrivate;

class OBB
{
public:
  OBB();
  OBB(const OBB& other);
  OBB(const Eigen::Isometry3d& pose, const Eigen::Vector3d& extents);
  virtual ~OBB();

  OBB& operator=(const OBB& other);

  void setPoseAndExtents(const Eigen::Isometry3d& pose, const Eigen::Vector3d& extents);

  Eigen::Vector3d getExtents() const;

  void getExtents(Eigen::Vector3d& extents) const;

  Eigen::Isometry3d getPose() const;

  void getPose(Eigen::Isometry3d& pose) const;

  AABB toAABB() const;

  void toAABB(AABB& aabb) const;

  OBB* extendApprox(const OBB& box);

  bool contains(const Eigen::Vector3d& point) const;

  bool overlaps(const OBB& other) const;

  bool contains(const OBB& obb) const;

  EigenSTL::vector_Vector3d computeVertices() const;

protected:
  std::unique_ptr<OBBPrivate> obb_;
};
}  // namespace bodies

#endif  // GEOMETRIC_SHAPES_OBB_H