OBBRSS.cpp
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) 2014-2015, 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 #include <hpp/fcl/BV/OBBRSS.h>
39 
40 namespace hpp {
41 namespace fcl {
42 
43 OBBRSS translate(const OBBRSS& bv, const Vec3f& t) {
44  OBBRSS res(bv);
45  res.obb.To += t;
46  res.rss.Tr += t;
47  return res;
48 }
49 
50 } // namespace fcl
51 
52 } // namespace hpp
OBB obb
OBB member, for rotation.
Definition: BV/OBBRSS.h:56
Main namespace.
Vec3f Tr
Origin of the rectangle in RSS.
Definition: BV/RSS.h:62
RSS rss
RSS member, for distance.
Definition: BV/OBBRSS.h:59
static AABB translate(const AABB &aabb, const Vec3f &t)
translate the center of AABB by t
Definition: BV/AABB.h:226
res
Vec3f To
Center of OBB.
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: BV/OBBRSS.h:54


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:01