Program Listing for File data_types.h
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#ifndef HPP_FCL_DATA_TYPES_H
#define HPP_FCL_DATA_TYPES_H
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <hpp/fcl/config.hh>
namespace hpp {
#ifdef HPP_FCL_HAS_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x, y, z) \
(OCTOMAP_MAJOR_VERSION > x || \
(OCTOMAP_MAJOR_VERSION >= x && \
(OCTOMAP_MINOR_VERSION > y || \
(OCTOMAP_MINOR_VERSION >= y && OCTOMAP_PATCH_VERSION >= z))))
#define OCTOMAP_VERSION_AT_MOST(x, y, z) \
(OCTOMAP_MAJOR_VERSION < x || \
(OCTOMAP_MAJOR_VERSION <= x && \
(OCTOMAP_MINOR_VERSION < y || \
(OCTOMAP_MINOR_VERSION <= y && OCTOMAP_PATCH_VERSION <= z))))
#endif // HPP_FCL_HAS_OCTOMAP
} // namespace hpp
namespace hpp {
namespace fcl {
typedef double FCL_REAL;
typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> VecXf;
typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3> Matrixx3f;
typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3> Matrixx3i;
typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;
typedef Eigen::Vector2i support_func_guess_t;
enum GJKInitialGuess { DefaultGuess, CachedGuess, BoundingVolumeGuess };
enum GJKVariant { DefaultGJK, NesterovAcceleration };
enum GJKConvergenceCriterion { VDB, DualityGap, Hybrid };
enum GJKConvergenceCriterionType { Relative, Absolute };
class HPP_FCL_DLLAPI Triangle {
public:
typedef std::size_t index_type;
typedef int size_type;
Triangle() {}
Triangle(index_type p1, index_type p2, index_type p3) { set(p1, p2, p3); }
inline void set(index_type p1, index_type p2, index_type p3) {
vids[0] = p1;
vids[1] = p2;
vids[2] = p3;
}
inline index_type operator[](index_type i) const { return vids[i]; }
inline index_type& operator[](index_type i) { return vids[i]; }
static inline size_type size() { return 3; }
bool operator==(const Triangle& other) const {
return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
vids[2] == other.vids[2];
}
bool operator!=(const Triangle& other) const { return !(*this == other); }
private:
index_type vids[3];
};
struct HPP_FCL_DLLAPI Quadrilateral {
typedef std::size_t index_type;
typedef int size_type;
Quadrilateral() {}
Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3) {
set(p0, p1, p2, p3);
}
inline void set(index_type p0, index_type p1, index_type p2, index_type p3) {
vids[0] = p0;
vids[1] = p1;
vids[2] = p2;
vids[3] = p3;
}
inline index_type operator[](index_type i) const { return vids[i]; }
inline index_type& operator[](index_type i) { return vids[i]; }
static inline size_type size() { return 4; }
bool operator==(const Quadrilateral& other) const {
return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
vids[2] == other.vids[2] && vids[3] == other.vids[3];
}
bool operator!=(const Quadrilateral& other) const {
return !(*this == other);
}
private:
index_type vids[4];
};
} // namespace fcl
} // namespace hpp
#endif