bounding_box.h
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00001 /*
00002  * Copyright 2014 Google Inc. All Rights Reserved.
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef TANGO_GL_BOUNDING_BOX_H_
00018 #define TANGO_GL_BOUNDING_BOX_H_
00019 
00020 #include <vector>
00021 
00022 #include "tango-gl/segment.h"
00023 #include "tango-gl/util.h"
00024 
00025 namespace tango_gl {
00026 class BoundingBox {
00027  public:
00028   BoundingBox()
00029       : bounding_min_(glm::vec3(0, 0, 0)), bounding_max_(glm::vec3(0, 0, 0)) {}
00030   BoundingBox(const std::vector<float>& vertices);
00031   BoundingBox(const glm::vec3& min, const glm::vec3& max)
00032       : bounding_min_(min), bounding_max_(max) {}
00033   bool IsIntersecting(const Segment& segment, const glm::quat& rotation,
00034                       const glm::mat4& transformation);
00035 
00036  private:
00037   // Axis-aligned bounding box minimum and maximum point.
00038   glm::vec3 bounding_min_;
00039   glm::vec3 bounding_max_;
00040 };
00041 }  // namespace tango_gl
00042 #endif  // TANGO_GL_BOUNDING_BOX_H_


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:18