interval_vector.h

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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
#ifndef FCL_CCD_INTERVAL_VECTOR_H
#define FCL_CCD_INTERVAL_VECTOR_H
 
#include "fcl/math/motion/taylor_model/interval.h"
 
namespace fcl
{
 
template <typename S>
struct FCL_EXPORT IVector3
{
  Interval<S> i_[3];
 
  IVector3();
  IVector3(S v);
  IVector3(S x, S y, S z);
  IVector3(S xl, S xu, S yl, S yu, S zl, S zu);
  IVector3(Interval<S> v[3]);
  IVector3(S v[3][2]);
  IVector3(const Interval<S>& v1, const Interval<S>& v2, const Interval<S>& v3);
  IVector3(const Vector3<S>& v);
 
  void setValue(S v);
 
  void setValue(S x, S y, S z);
 
  void setValue(S xl, S xu, S yl, S yu, S zl, S zu);
 
  void setValue(S v[3][2]);
 
  void setValue(Interval<S> v[3]);
 
  void setValue(const Interval<S>& v1, const Interval<S>& v2, const Interval<S>& v3);
 
  void setValue(const Vector3<S>& v);
 
  void setValue(S v[3]);
  
  IVector3 operator + (const IVector3& other) const;
  IVector3& operator += (const IVector3& other);
 
  IVector3 operator - (const IVector3& other) const;
  IVector3& operator -= (const IVector3& other);
 
  Interval<S> dot(const IVector3& other) const;
  IVector3 cross(const IVector3& other) const;
 
  Interval<S> dot(const Vector3<S>& other) const;
  IVector3 cross(const Vector3<S>& other) const;
 
  const Interval<S>& operator [] (size_t i) const;
 
  Interval<S>& operator [] (size_t i);
 
  Vector3<S> getLow() const;
  
  Vector3<S> getHigh() const;
 
  void print() const;
  Vector3<S> center() const;
  S volumn() const;
  void setZero();
 
  void bound(const Vector3<S>& v);
  void bound(const IVector3& v);
 
  bool overlap(const IVector3& v) const;
  bool contain(const IVector3& v) const;
};
 
template <typename S>
FCL_EXPORT
IVector3<S> bound(const IVector3<S>& i, const Vector3<S>& v);
 
template <typename S>
FCL_EXPORT
IVector3<S> bound(const IVector3<S>& i, const IVector3<S>& v);
 
} // namespace fcl
 
#include "fcl/math/motion/taylor_model/interval_vector-inl.h"
 
#endif