kDOP.h

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#ifndef HPP_FCL_KDOP_H
#define HPP_FCL_KDOP_H

#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/data_types.h>

namespace hpp {
namespace fcl {

struct CollisionRequest;


template <short N>
class HPP_FCL_DLLAPI KDOP {
 protected:
  Eigen::Array<FCL_REAL, N, 1> dist_;

 public:
  KDOP();

  KDOP(const Vec3f& v);

  KDOP(const Vec3f& a, const Vec3f& b);

  bool operator==(const KDOP& other) const {
    return (dist_ == other.dist_).all();
  }

  bool operator!=(const KDOP& other) const {
    return (dist_ != other.dist_).any();
  }

  bool overlap(const KDOP<N>& other) const;

  bool overlap(const KDOP<N>& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const;

  FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL,
                    Vec3f* Q = NULL) const;

  KDOP<N>& operator+=(const Vec3f& p);

  KDOP<N>& operator+=(const KDOP<N>& other);

  KDOP<N> operator+(const KDOP<N>& other) const;

  inline FCL_REAL size() const {
    return width() * width() + height() * height() + depth() * depth();
  }

  inline Vec3f center() const {
    return (dist_.template head<3>() + dist_.template segment<3>(N / 2)) / 2;
  }

  inline FCL_REAL width() const { return dist_[N / 2] - dist_[0]; }

  inline FCL_REAL height() const { return dist_[N / 2 + 1] - dist_[1]; }

  inline FCL_REAL depth() const { return dist_[N / 2 + 2] - dist_[2]; }

  inline FCL_REAL volume() const { return width() * height() * depth(); }

  inline FCL_REAL dist(short i) const { return dist_[i]; }

  inline FCL_REAL& dist(short i) { return dist_[i]; }

  bool inside(const Vec3f& p) const;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

template <short N>
bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/, const KDOP<N>& /*b1*/,
             const KDOP<N>& /*b2*/) {
  HPP_FCL_THROW_PRETTY("not implemented", std::logic_error);
}

template <short N>
bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/, const KDOP<N>& /*b1*/,
             const KDOP<N>& /*b2*/, const CollisionRequest& /*request*/,
             FCL_REAL& /*sqrDistLowerBound*/) {
  HPP_FCL_THROW_PRETTY("not implemented", std::logic_error);
}

template <short N>
HPP_FCL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t);

}  // namespace fcl

}  // namespace hpp

#endif