OBB.h
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35 
38 #ifndef FCL_BV_OBB_H
39 #define FCL_BV_OBB_H
40 
41 #include <iostream>
42 
43 #include "fcl/common/types.h"
44 #include "fcl/math/geometry.h"
45 
46 namespace fcl
47 {
48 
50 template <typename S_>
51 class FCL_EXPORT OBB
52 {
53 public:
54 
55  using S = S_;
56 
63 
66 
69 
71  OBB();
72 
74  OBB(const Matrix3<S>& axis,
75  const Vector3<S>& center,
76  const Vector3<S>& extent);
77 
79  bool overlap(const OBB<S>& other) const;
80 
82  bool overlap(const OBB<S>& other, OBB<S>& overlap_part) const;
83 
85  bool contain(const Vector3<S>& p) const;
86 
88  OBB<S>& operator +=(const Vector3<S>& p);
89 
91  OBB<S>& operator += (const OBB<S>& other);
92 
94  OBB<S> operator + (const OBB<S>& other) const;
95 
97  S width() const;
98 
100  S height() const;
101 
103  S depth() const;
104 
106  S volume() const;
107 
109  S size() const;
110 
112  const Vector3<S> center() const;
113 
115  S distance(const OBB& other, Vector3<S>* P = nullptr,
116  Vector3<S>* Q = nullptr) const;
117 
118  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
119 
120 };
121 
122 using OBBf = OBB<float>;
124 
126 template <typename S>
127 FCL_EXPORT
128 void computeVertices(const OBB<S>& b, Vector3<S> vertices[8]);
129 
131 template <typename S>
132 FCL_EXPORT
133 OBB<S> merge_largedist(const OBB<S>& b1, const OBB<S>& b2);
134 
136 template <typename S>
137 FCL_EXPORT
138 OBB<S> merge_smalldist(const OBB<S>& b1, const OBB<S>& b2);
139 
141 template <typename S, typename Derived>
142 FCL_EXPORT
144  const OBB<S>& bv, const Eigen::MatrixBase<Derived>& t);
145 
148 template <typename S, typename DerivedA, typename DerivedB>
149 FCL_EXPORT
150 bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
151  const Eigen::MatrixBase<DerivedB>& T0,
152  const OBB<S>& b1, const OBB<S>& b2);
153 
157 template <typename S>
158 FCL_EXPORT
159 bool obbDisjoint(
160  const Matrix3<S>& B,
161  const Vector3<S>& T,
162  const Vector3<S>& a,
163  const Vector3<S>& b);
164 
168 template <typename S>
169 FCL_EXPORT
170 bool obbDisjoint(
171  const Transform3<S>& tf,
172  const Vector3<S>& a,
173  const Vector3<S>& b);
174 
175 } // namespace fcl
176 
177 #include "fcl/math/bv/OBB-inl.h"
178 
179 #endif
fcl::OBB::axis
Matrix3< S > axis
Orientation of OBB. The axes of the rotation matrix are the principle directions of the box....
Definition: OBB.h:62
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
geometry.h
types.h
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
OBB-inl.h
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::OBB< Shape::S >::S
Shape::S S
Definition: OBB.h:55
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::OBB
Oriented bounding box class.
Definition: OBB.h:51
fcl::merge_smalldist
template OBB< double > merge_smalldist(const OBB< double > &b1, const OBB< double > &b2)
fcl::computeVertices
template void computeVertices(const OBB< double > &b, Vector3< double > vertices[8])
fcl::merge_largedist
template OBB< double > merge_largedist(const OBB< double > &b1, const OBB< double > &b2)
fcl::obbDisjoint
template bool obbDisjoint(const Matrix3< double > &B, const Vector3< double > &T, const Vector3< double > &a, const Vector3< double > &b)
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::OBB::extent
Vector3< S > extent
Half dimensions of OBB.
Definition: OBB.h:68
fcl::OBB::To
Vector3< S > To
Center of OBB.
Definition: OBB.h:65
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)


fcl
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autogenerated on Tue Jun 22 2021 07:27:51