kDOP.h

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#ifndef FCL_BV_KDOP_H
#define FCL_BV_KDOP_H
 
#include <cstddef>
#include <iostream>
 
#include "fcl/common/types.h"
 
namespace fcl
{
 
template <typename S_, std::size_t N>
class FCL_EXPORT KDOP
{
public:
 
  using S = S_;
 
  KDOP();
 
  KDOP(const Vector3<S>& v);
 
  KDOP(const Vector3<S>& a, const Vector3<S>& b);
  
  bool overlap(const KDOP<S, N>& other) const;
 
  bool inside(const Vector3<S>& p) const;
 
  KDOP<S, N>& operator += (const Vector3<S>& p);
 
  KDOP<S, N>& operator += (const KDOP<S, N>& other);
 
  KDOP<S, N> operator + (const KDOP<S, N>& other) const;
 
  S width() const;
 
  S height() const;
 
  S depth() const;
 
  S volume() const;
 
  S size() const;
 
  Vector3<S> center() const;
 
  S distance(
      const KDOP<S, N>& other,
      Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
 
private:
  S dist_[N];
 
public:
  S dist(std::size_t i) const;
 
  S& dist(std::size_t i);
 
};
 
template <std::size_t N>
using KDOPf = KDOP<float, N>;
template <std::size_t N>
using KDOPd = KDOP<double, N>;
 
template <typename S>
FCL_EXPORT
void minmax(S a, S b, S& minv, S& maxv);
 
template <typename S>
FCL_EXPORT
void minmax(S p, S& minv, S& maxv);
 
template <typename S, std::size_t N>
FCL_EXPORT
void getDistances(const Vector3<S>& p, S* d);
 
template <typename S, std::size_t N, typename Derived>
FCL_EXPORT
KDOP<S, N> translate(
    const KDOP<S, N>& bv, const Eigen::MatrixBase<Derived>& t);
 
} // namespace fcl
 
#include "fcl/math/bv/kDOP-inl.h"
 
#endif