OBBRSS.h
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35 
38 #ifndef FCL_BV_OBBRSS_H
39 #define FCL_BV_OBBRSS_H
40 
41 #include "fcl/math/bv/OBB.h"
42 #include "fcl/math/bv/RSS.h"
43 
44 namespace fcl
45 {
46 
49 template <typename S_>
50 class FCL_EXPORT OBBRSS
51 {
52 public:
53 
54  using S = S_;
55 
58 
61 
63  bool overlap(const OBBRSS<S>& other) const;
64 
66  bool overlap(const OBBRSS<S>& other, OBBRSS<S>& overlap_part) const;
67 
69  bool contain(const Vector3<S>& p) const;
70 
72  OBBRSS<S>& operator += (const Vector3<S>& p);
73 
75  OBBRSS<S>& operator += (const OBBRSS<S>& other);
76 
78  OBBRSS<S> operator + (const OBBRSS<S>& other) const;
79 
81  S width() const;
82 
84  S height() const;
85 
87  S depth() const;
88 
90  S volume() const;
91 
93  S size() const;
94 
96  const Vector3<S> center() const;
97 
99  S distance(const OBBRSS<S>& other,
100  Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
101 
102  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103 
104 };
105 
108 
110 template <typename S>
111 FCL_EXPORT
112 OBBRSS<S> translate(const OBBRSS<S>& bv, const Vector3<S>& t);
113 
116 template <typename S, typename DerivedA, typename DerivedB>
117 FCL_EXPORT
118 bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
119  const Eigen::MatrixBase<DerivedB>& T0,
120  const OBBRSS<S>& b1, const OBBRSS<S>& b2);
121 
124 template <typename S>
125 FCL_EXPORT
126 bool overlap(
127  const Transform3<S>& tf,
128  const OBBRSS<S>& b1,
129  const OBBRSS<S>& b2);
130 
133 template <typename S, typename DerivedA, typename DerivedB>
134 FCL_EXPORT
135 S distance(
136  const Eigen::MatrixBase<DerivedA>& R0,
137  const Eigen::MatrixBase<DerivedB>& T0,
138  const OBBRSS<S>& b1, const OBBRSS<S>& b2,
139  Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr);
140 
143 template <typename S>
144 FCL_EXPORT
145 S distance(
146  const Transform3<S>& tf,
147  const OBBRSS<S>& b1,
148  const OBBRSS<S>& b2,
149  Vector3<S>* P = nullptr,
150  Vector3<S>* Q = nullptr);
151 
152 } // namespace fcl
153 
154 #include "fcl/math/bv/OBBRSS-inl.h"
155 
156 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::translate
AABB< S > translate(const AABB< S > &aabb, const Eigen::MatrixBase< Derived > &t)
translate the center of AABB by t
Definition: AABB-inl.h:345
fcl::overlap
bool overlap(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2)
Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.
Definition: kIOS-inl.h:249
fcl::RSS< S >
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::OBBRSS< Shape::S >::S
Shape::S S
Definition: OBBRSS.h:54
fcl::OBB< S >
fcl::OBBRSS::obb
OBB< S > obb
OBB member, for rotation.
Definition: OBBRSS.h:57
OBBRSS-inl.h
fcl::OBBRSS
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:50
fcl::OBBRSS::rss
RSS< S > rss
RSS member, for distance.
Definition: OBBRSS.h:60
OBB.h
RSS.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)


fcl
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autogenerated on Fri Jun 11 2021 02:38:03