hpp-fcl: include/hpp/fcl/BV/OBBRSS.h Source File

hpp-fcl 1.6.0 HPP fork of FCL -- The Flexible Collision Library

OBBRSS.h
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35
38 #ifndef HPP_FCL_OBBRSS_H
39 #define HPP_FCL_OBBRSS_H
40
41
42 #include <hpp/fcl/BV/OBB.h>
43 #include <hpp/fcl/BV/RSS.h>
44
45 namespace hpp
46 {
47 namespace fcl
48 {
49
50 struct CollisionRequest;
51
54
56 class HPP_FCL_DLLAPI OBBRSS
57 {
58 public:
59
61 OBB obb;
62
64 RSS rss;
65
67 inline bool contain(const Vec3f& p) const
68 {
69 return obb.contain(p);
70 }
71
73 bool overlap(const OBBRSS& other) const
74 {
75 return obb.overlap(other.obb);
76 }
77
81 bool overlap(const OBBRSS& other, const CollisionRequest& request,
82 FCL_REAL& sqrDistLowerBound) const
83 {
84 return obb.overlap(other.obb, request, sqrDistLowerBound);
85 }
86
88 FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
89 {
90 return rss.distance(other.rss, P, Q);
91 }
92
94 OBBRSS& operator += (const Vec3f& p)
95 {
96 obb += p;
97 rss += p;
98 return *this;
99 }
100
102 OBBRSS& operator += (const OBBRSS& other)
103 {
104 *this = *this + other;
105 return *this;
106 }
107
109 OBBRSS operator + (const OBBRSS& other) const
110 {
111 OBBRSS result;
112 result.obb = obb + other.obb;
113 result.rss = rss + other.rss;
114 return result;
115 }
116
118 inline FCL_REAL size() const
119 {
120 return obb.size();
121 }
122
124 inline const Vec3f& center() const
125 {
126 return obb.center();
127 }
128
130 inline FCL_REAL width() const
131 {
132 return obb.width();
133 }
134
136 inline FCL_REAL height() const
137 {
138 return obb.height();
139 }
140
142 inline FCL_REAL depth() const
143 {
144 return obb.depth();
145 }
146
148 inline FCL_REAL volume() const
149 {
150 return obb.volume();
151 }
152 };
153
155 inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2)
156 {
157 return overlap(R0, T0, b1.obb, b2.obb);
158 }
159
165 inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
166 const OBBRSS& b2, const CollisionRequest& request,
167 FCL_REAL& sqrDistLowerBound)
168 {
169 return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
170 }
171
173 inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL)
174 {
175 return distance(R0, T0, b1.rss, b2.rss, P, Q);
176 }
177
178 }
179
180
181 } // namespace hpp
182
183 #endif
hpp::fcl::OBB::size
FCL_REAL size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: OBB.h:98
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::OBBRSS::width
FCL_REAL width() const
Width of the OBRSS.
Definition: OBBRSS.h:130
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:198
hpp::fcl::OBB::center
const Vec3f & center() const
Center of the OBB.
Definition: OBB.h:104
RSS.h
hpp::fcl::OBB::contain
bool contain(const Vec3f &p) const
Check whether the OBB contains a point.
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp::fcl::OBBRSS::obb
OBB obb
OBB member, for rotation.
Definition: OBBRSS.h:61
hpp::fcl::OBBRSS::volume
FCL_REAL volume() const
Volume of the OBBRSS.
Definition: OBBRSS.h:148
hpp::fcl::OBBRSS
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:57
hpp::fcl::OBBRSS::height
FCL_REAL height() const
Height of the OBBRSS.
Definition: OBBRSS.h:136
hpp::fcl::OBBRSS::center
const Vec3f & center() const
Center of the OBBRSS.
Definition: OBBRSS.h:124
hpp
Main namespace.
Definition: AABB.h:44
hpp::fcl::OBBRSS::depth
FCL_REAL depth() const
Depth of the OBBRSS.
Definition: OBBRSS.h:142
hpp::fcl::overlap
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.
hpp::fcl::OBB
Oriented bounding box class.
Definition: OBB.h:55
hpp::fcl::OBB::overlap
bool overlap(const OBB &other) const
hpp::fcl::RSS::distance
FCL_REAL distance(const RSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
the distance between two RSS; P and Q, if not NULL, return the nearest points
hpp::fcl::OBB::depth
FCL_REAL depth() const
Depth of the OBB.
Definition: OBB.h:122
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
OBB.h
hpp::fcl::RSS
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:56
hpp::fcl::distance
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.
hpp::fcl::OBBRSS::rss
RSS rss
RSS member, for distance.
Definition: OBBRSS.h:64
hpp::fcl::OBB::width
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:110
hpp::fcl::OBBRSS::distance
FCL_REAL distance(const OBBRSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.
Definition: OBBRSS.h:88
hpp::fcl::OBB::volume
FCL_REAL volume() const
Volume of the OBB.
Definition: OBB.h:128
hpp::fcl::OBBRSS::size
FCL_REAL size() const
Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
Definition: OBBRSS.h:118
hpp::fcl::OBBRSS::contain
bool contain(const Vec3f &p) const
Check whether the OBBRSS contains a point.
Definition: OBBRSS.h:67
hpp::fcl::OBBRSS::overlap
bool overlap(const OBBRSS &other) const
Check collision between two OBBRSS.
Definition: OBBRSS.h:73
hpp::fcl::OBB::height
FCL_REAL height() const
Height of the OBB.
Definition: OBB.h:116
hpp::fcl::OBBRSS::overlap
bool overlap(const OBBRSS &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Definition: OBBRSS.h:81