/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/bBox.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: bBox.h,v 1.3 2009/04/21 14:53:07 cmatei Exp $
//
//######################################################################

#ifndef _bbox_h_
#define _bbox_h_

#include "matvec3D.h"
#include "mytools.h"

#include <iostream>

class BoundingBox
{
private:
        transf mTran;
        transf mTranInv;
public:
        vec3 halfSize;
        //for debugging purposes
        mutable bool mMark;
        BoundingBox(const transf &t, const vec3 &v) : mTran(t), mTranInv(t.inverse()), 
                                                                                                  halfSize(v), mMark(false) {}
        BoundingBox(const BoundingBox &b) : mTran(b.getTran()), mTranInv(b.getTranInv()), 
                                                                                halfSize(b.halfSize), mMark(b.mMark) {}
        BoundingBox() : mTran(), mTranInv(), halfSize(), mMark(false){}
        INLINE_RELEASE void applyTransform(const transf &t);
        void setTran(const transf &t) {
                mTran = t;
                mTranInv = mTran.inverse();
        }
        const transf& getTran() const {return mTran;}
        const transf& getTranInv() const {return mTranInv;}
};

INLINE_RELEASE bool 
bboxOverlap(const BoundingBox &bb1, const BoundingBox &bb2, const transf &tran2To1);

INLINE_RELEASE double 
bboxDistanceSq(const BoundingBox &bb1, const BoundingBox &bb2, const transf &tran2To1);

INLINE_RELEASE double 
bboxDistanceApp(const BoundingBox &bb1, const BoundingBox &bb2);

INLINE_RELEASE double 
pointBoxDistanceSq(const BoundingBox &bbox, const position &p);

INLINE_RELEASE
position closestPtBbox(const BoundingBox &bbox, const position &p);

#ifdef GRASPIT_RELEASE
#include "bbox_inl.h"
#endif

#endif

---

graspit
Author(s):
autogenerated on Wed Jan 25 10:58:51 2012