interval_vector.h
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35 // This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
38 #ifndef FCL_CCD_INTERVAL_VECTOR_H
39 #define FCL_CCD_INTERVAL_VECTOR_H
40 
42 
43 namespace fcl
44 {
45 
46 template <typename S>
47 struct FCL_EXPORT IVector3
48 {
49  Interval<S> i_[3];
50 
51  IVector3();
52  IVector3(S v);
53  IVector3(S x, S y, S z);
54  IVector3(S xl, S xu, S yl, S yu, S zl, S zu);
55  IVector3(Interval<S> v[3]);
56  IVector3(S v[3][2]);
57  IVector3(const Interval<S>& v1, const Interval<S>& v2, const Interval<S>& v3);
58  IVector3(const Vector3<S>& v);
59 
60  void setValue(S v);
61 
62  void setValue(S x, S y, S z);
63 
64  void setValue(S xl, S xu, S yl, S yu, S zl, S zu);
65 
66  void setValue(S v[3][2]);
67 
68  void setValue(Interval<S> v[3]);
69 
70  void setValue(const Interval<S>& v1, const Interval<S>& v2, const Interval<S>& v3);
71 
72  void setValue(const Vector3<S>& v);
73 
74  void setValue(S v[3]);
75 
76  IVector3 operator + (const IVector3& other) const;
77  IVector3& operator += (const IVector3& other);
78 
79  IVector3 operator - (const IVector3& other) const;
80  IVector3& operator -= (const IVector3& other);
81 
82  Interval<S> dot(const IVector3& other) const;
83  IVector3 cross(const IVector3& other) const;
84 
85  Interval<S> dot(const Vector3<S>& other) const;
86  IVector3 cross(const Vector3<S>& other) const;
87 
88  const Interval<S>& operator [] (size_t i) const;
89 
90  Interval<S>& operator [] (size_t i);
91 
92  Vector3<S> getLow() const;
93 
94  Vector3<S> getHigh() const;
95 
96  void print() const;
97  Vector3<S> center() const;
98  S volumn() const;
99  void setZero();
100 
101  void bound(const Vector3<S>& v);
102  void bound(const IVector3& v);
103 
104  bool overlap(const IVector3& v) const;
105  bool contain(const IVector3& v) const;
106 };
107 
108 template <typename S>
109 FCL_EXPORT
110 IVector3<S> bound(const IVector3<S>& i, const Vector3<S>& v);
111 
112 template <typename S>
113 FCL_EXPORT
114 IVector3<S> bound(const IVector3<S>& i, const IVector3<S>& v);
115 
116 } // namespace fcl
117 
119 
120 #endif
fcl::operator-
template TMatrix3< double > operator-(const Matrix3< double > &m1, const TMatrix3< double > &m2)
fcl::overlap
bool overlap(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2)
Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.
Definition: kIOS-inl.h:249
interval.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::bound
template Interval< double > bound(const Interval< double > &i, double v)
fcl::Interval
Interval class for [a, b].
Definition: interval.h:50
interval_vector-inl.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)
fcl::IVector3
Definition: interval_vector.h:47


fcl
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autogenerated on Sat Sep 11 2021 02:37:41