kDOP.h
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35 
38 #ifndef FCL_BV_KDOP_H
39 #define FCL_BV_KDOP_H
40 
41 #include <cstddef>
42 #include <iostream>
43 
44 #include "fcl/common/types.h"
45 
46 namespace fcl
47 {
48 
83 template <typename S_, std::size_t N>
84 class FCL_EXPORT KDOP
85 {
86 public:
87 
88  using S = S_;
89 
91  KDOP();
92 
94  KDOP(const Vector3<S>& v);
95 
97  KDOP(const Vector3<S>& a, const Vector3<S>& b);
98 
100  bool overlap(const KDOP<S, N>& other) const;
101 
103  bool inside(const Vector3<S>& p) const;
104 
106  KDOP<S, N>& operator += (const Vector3<S>& p);
107 
109  KDOP<S, N>& operator += (const KDOP<S, N>& other);
110 
112  KDOP<S, N> operator + (const KDOP<S, N>& other) const;
113 
115  S width() const;
116 
118  S height() const;
119 
121  S depth() const;
122 
124  S volume() const;
125 
127  S size() const;
128 
130  Vector3<S> center() const;
131 
133  S distance(
134  const KDOP<S, N>& other,
135  Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
136 
137 private:
139  S dist_[N];
140 
141 public:
142  S dist(std::size_t i) const;
143 
144  S& dist(std::size_t i);
145 
146 };
147 
148 template <std::size_t N>
150 template <std::size_t N>
152 
154 template <typename S>
155 FCL_EXPORT
156 void minmax(S a, S b, S& minv, S& maxv);
157 
159 template <typename S>
160 FCL_EXPORT
161 void minmax(S p, S& minv, S& maxv);
162 
165 template <typename S, std::size_t N>
166 FCL_EXPORT
167 void getDistances(const Vector3<S>& p, S* d);
168 
170 template <typename S, std::size_t N, typename Derived>
171 FCL_EXPORT
173  const KDOP<S, N>& bv, const Eigen::MatrixBase<Derived>& t);
174 
175 } // namespace fcl
176 
177 #include "fcl/math/bv/kDOP-inl.h"
178 
179 #endif
fcl::getDistances
FCL_EXPORT void getDistances(const Vector3< S > &p, S *d)
Compute the distances to planes with normals from KDOP vectors except those of AABB face planes.
Definition: kDOP-inl.h:350
kDOP-inl.h
types.h
fcl::minmax
template void minmax(double a, double b, double &minv, double &maxv)
fcl::KDOP::S
S_ S
Definition: kDOP.h:88
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::translate
AABB< S > translate(const AABB< S > &aabb, const Eigen::MatrixBase< Derived > &t)
translate the center of AABB by t
Definition: AABB-inl.h:345
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
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::KDOP
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:84
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)


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