triangle_p.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_SHAPE_TRIANGLE_P_H
39 #define FCL_SHAPE_TRIANGLE_P_H
40 
41 #include <iostream>
42 
44 
45 namespace fcl
46 {
47 
49 template <typename S_>
50 class FCL_EXPORT TriangleP : public ShapeBase<S_>
51 {
52 public:
53 
54  using S = S_;
55 
56  TriangleP(const Vector3<S>& a,
57  const Vector3<S>& b,
58  const Vector3<S>& c);
59 
61  void computeLocalAABB() override;
62 
63  // Documentation inherited
64  NODE_TYPE getNodeType() const override;
65 
69 
72  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
73 
74  friend
75  std::ostream& operator<<(std::ostream& out, const TriangleP& tri) {
76  out << "TriangleP(a: " << tri.a.transpose()
77  << ", b: " << tri.b.transpose() << ", c: " << tri.c.transpose() << ")";
78  return out;
79  }
80 };
81 
84 
85 } // namespace fcl
86 
88 
89 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::TriangleP::S
S_ S
Definition: triangle_p.h:54
fcl::TriangleP::c
Vector3< S > c
Definition: triangle_p.h:68
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
shape_base.h
triangle_p-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::TriangleP::operator<<
friend std::ostream & operator<<(std::ostream &out, const TriangleP &tri)
Definition: triangle_p.h:75
fcl::TriangleP::b
Vector3< S > b
Definition: triangle_p.h:67
fcl::TriangleP
Triangle stores the points instead of only indices of points.
Definition: triangle_p.h:50
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::TriangleP::a
Vector3< S > a
Definition: triangle_p.h:66


fcl
Author(s):
autogenerated on Sat Sep 11 2021 02:37:42