cost_source-inl.h
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35 
38 #ifndef FCL_COSTSOURCE_INL_H
39 #define FCL_COSTSOURCE_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 struct CostSource<double>;
49 
50 //==============================================================================
51 template <typename S>
53  const Vector3<S>& aabb_min_,
54  const Vector3<S>& aabb_max_,
55  S cost_density_)
56  : aabb_min(aabb_min_),
57  aabb_max(aabb_max_),
58  cost_density(cost_density_)
59 {
61  * (aabb_max[0] - aabb_min[0])
62  * (aabb_max[1] - aabb_min[1])
63  * (aabb_max[2] - aabb_min[2]);
64 }
65 
66 //==============================================================================
67 template <typename S>
68 CostSource<S>::CostSource(const AABB<S>& aabb, S cost_density_)
69  : aabb_min(aabb.min_), aabb_max(aabb.max_), cost_density(cost_density_)
70 {
72  * (aabb_max[0] - aabb_min[0])
73  * (aabb_max[1] - aabb_min[1])
74  * (aabb_max[2] - aabb_min[2]);
75 }
76 
77 //==============================================================================
78 template <typename S>
80 {
81  // Do nothing
82 }
83 
84 //==============================================================================
85 template <typename S>
86 bool CostSource<S>::operator <(const CostSource& other) const
87 {
88  if(total_cost < other.total_cost)
89  return false;
90  if(total_cost > other.total_cost)
91  return true;
92 
93  if(cost_density < other.cost_density)
94  return false;
95  if(cost_density > other.cost_density)
96  return true;
97 
98  for(size_t i = 0; i < 3; ++i)
99  if(aabb_min[i] != other.aabb_min[i])
100  return aabb_min[i] < other.aabb_min[i];
101 
102  return false;
103 }
104 
105 } // namespace fcl
106 
107 #endif
fcl::CostSource::aabb_max
Vector3< S > aabb_max
aabb upper bound
Definition: cost_source.h:55
cost_source.h
fcl::CostSource
Cost source describes an area with a cost. The area is described by an AABB region.
Definition: cost_source.h:49
fcl::CostSource::CostSource
CostSource()
Definition: cost_source-inl.h:79
fcl::AABB< S >
fcl::CostSource::aabb_min
Vector3< S > aabb_min
aabb lower bound
Definition: cost_source.h:52
fcl::CostSource::operator<
bool operator<(const CostSource &other) const
Definition: cost_source-inl.h:86
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::CostSource::total_cost
S total_cost
Definition: cost_source.h:60
fcl::CostSource::cost_density
S cost_density
cost density in the AABB region
Definition: cost_source.h:58
aabb
SaPCollisionManager< S >::SaPAABB * aabb
back pointer to SAP interval
Definition: broadphase_SaP.h:184
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Wed Mar 2 2022 00:15:30