include/hpp/fcl/BV/OBB.h
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35 
38 #ifndef HPP_FCL_OBB_H
39 #define HPP_FCL_OBB_H
40 
41 #include <hpp/fcl/data_types.h>
42 
43 namespace hpp {
44 namespace fcl {
45 
46 struct CollisionRequest;
47 
50 
52 struct HPP_FCL_DLLAPI OBB {
59 
62 
65 
66  OBB() : axes(Matrix3f::Zero()), To(Vec3f::Zero()), extent(Vec3f::Zero()) {}
67 
69  bool operator==(const OBB& other) const {
70  return axes == other.axes && To == other.To && extent == other.extent;
71  }
72 
74  bool operator!=(const OBB& other) const { return !(*this == other); }
75 
77  bool contain(const Vec3f& p) const;
78 
81  bool overlap(const OBB& other) const;
82 
87  bool overlap(const OBB& other, const CollisionRequest& request,
88  FCL_REAL& sqrDistLowerBound) const;
89 
91  FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
92 
95  OBB& operator+=(const Vec3f& p);
96 
98  OBB& operator+=(const OBB& other) {
99  *this = *this + other;
100  return *this;
101  }
102 
105  OBB operator+(const OBB& other) const;
106 
108  inline FCL_REAL size() const { return extent.squaredNorm(); }
109 
111  inline const Vec3f& center() const { return To; }
112 
114  inline FCL_REAL width() const { return 2 * extent[0]; }
115 
117  inline FCL_REAL height() const { return 2 * extent[1]; }
118 
120  inline FCL_REAL depth() const { return 2 * extent[2]; }
121 
123  inline FCL_REAL volume() const { return width() * height() * depth(); }
124 };
125 
127 HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t);
128 
131 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
132  const OBB& b2);
133 
136 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
137  const OBB& b2, const CollisionRequest& request,
138  FCL_REAL& sqrDistLowerBound);
139 
145 HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T,
146  const Vec3f& a, const Vec3f& b);
147 } // namespace fcl
148 
149 } // namespace hpp
150 
151 #endif
hpp::fcl::OBB::operator!=
bool operator!=(const OBB &other) const
Difference operator.
Definition: include/hpp/fcl/BV/OBB.h:74
hpp::fcl::OBB::axes
Matrix3f axes
Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i...
Definition: include/hpp/fcl/BV/OBB.h:58
hpp::fcl::OBB::extent
Vec3f extent
Half dimensions of OBB.
Definition: include/hpp/fcl/BV/OBB.h:64
data_types.h
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
hpp::fcl::OBB::volume
FCL_REAL volume() const
Volume of the OBB.
Definition: include/hpp/fcl/BV/OBB.h:123
hpp::fcl::OBB::width
FCL_REAL width() const
Width of the OBB.
Definition: include/hpp/fcl/BV/OBB.h:114
hpp::fcl::OBB::depth
FCL_REAL depth() const
Depth of the OBB.
Definition: include/hpp/fcl/BV/OBB.h:120
hpp::fcl::distance
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS.cpp:181
hpp::fcl::OBB::height
FCL_REAL height() const
Height of the OBB.
Definition: include/hpp/fcl/BV/OBB.h:117
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::obbDisjoint
HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)
Definition: OBB.cpp:162
hpp::fcl::OBB::size
FCL_REAL size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: include/hpp/fcl/BV/OBB.h:108
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:235
hpp::fcl::OBB::OBB
OBB()
Definition: include/hpp/fcl/BV/OBB.h:66
hpp::fcl::OBB
Oriented bounding box class.
Definition: include/hpp/fcl/BV/OBB.h:52
hpp::fcl::OBB::operator==
bool operator==(const OBB &other) const
Equality operator.
Definition: include/hpp/fcl/BV/OBB.h:69
hpp::fcl::OBB::To
Vec3f To
Center of OBB.
Definition: include/hpp/fcl/BV/OBB.h:61
hpp::fcl::OBB::operator+=
OBB & operator+=(const OBB &other)
Merge the OBB and another OBB (the result is not compact).
Definition: include/hpp/fcl/BV/OBB.h:98
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
generate_distance_plot.b
float b
Definition: generate_distance_plot.py:7
hpp::fcl::overlap
HPP_FCL_DLLAPI bool overlap(const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2)
Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity.
Definition: AABB.cpp:134
hpp::fcl::OBB::center
const Vec3f & center() const
Center of the OBB.
Definition: include/hpp/fcl/BV/OBB.h:111
hpp::fcl::translate
static AABB translate(const AABB &aabb, const Vec3f &t)
translate the center of AABB by t
Definition: BV/AABB.h:226


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autogenerated on Fri Aug 2 2024 02:45:14