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

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

kDOP.h
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35
38 #ifndef HPP_FCL_KDOP_H
39 #define HPP_FCL_KDOP_H
40
41 #include <stdexcept>
42 #include <hpp/fcl/data_types.h>
43
44 namespace hpp
45 {
46 namespace fcl
47 {
48
49 struct CollisionRequest;
50
53
88 template<short N>
89 class HPP_FCL_DLLAPI KDOP
90 {
91 private:
93 Eigen::Array<FCL_REAL, N, 1> dist_;
94
95 public:
96
98 KDOP();
99
101 KDOP(const Vec3f& v);
102
104 KDOP(const Vec3f& a, const Vec3f& b);
105
107 bool overlap(const KDOP<N>& other) const;
108
113 bool overlap(const KDOP<N>& other, const CollisionRequest& request,
114 FCL_REAL& sqrDistLowerBound) const;
115
117 FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
118
120 KDOP<N>& operator += (const Vec3f& p);
121
123 KDOP<N>& operator += (const KDOP<N>& other);
124
126 KDOP<N> operator + (const KDOP<N>& other) const;
127
129 inline FCL_REAL size() const
130 {
131 return width() * width() + height() * height() + depth() * depth();
132 }
133
135 inline Vec3f center() const
136 {
137 return (dist_.template head<3>() + dist_.template segment<3>(N/2)) / 2;
138 }
139
140
142 inline FCL_REAL width() const
143 {
144 return dist_[N / 2] - dist_[0];
145 }
146
148 inline FCL_REAL height() const
149 {
150 return dist_[N / 2 + 1] - dist_[1];
151 }
152
154 inline FCL_REAL depth() const
155 {
156 return dist_[N / 2 + 2] - dist_[2];
157 }
158
160 inline FCL_REAL volume() const
161 {
162 return width() * height() * depth();
163 }
164
165 inline FCL_REAL dist(short i) const
166 {
167 return dist_[i];
168 }
169
170 inline FCL_REAL& dist(short i)
171 {
172 return dist_[i];
173 }
174
176 bool inside(const Vec3f& p) const;
177
178 public:
180 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
182 };
183
184 template<short N>
185 bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/,
186 const KDOP<N>& /*b1*/, const KDOP<N>& /*b2*/)
187 {
188 throw std::logic_error ("not implemented");
189 }
190
191 template<short N>
192 bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/,
193 const KDOP<N>& /*b1*/, const KDOP<N>& /*b2*/,
194 const CollisionRequest& /*request*/, FCL_REAL& /*sqrDistLowerBound*/)
195 {
196 throw std::logic_error ("not implemented");
197 }
198
200 template<short N>
201 HPP_FCL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t);
202
203 }
204
205 } // namespace hpp
206
207 #endif
data_types.h
hpp::fcl::KDOP::inside
bool inside(const Vec3f &p) const
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::KDOP::width
FCL_REAL width() const
The (AABB) width.
Definition: kDOP.h:142
hpp::fcl::KDOP::overlap
bool overlap(const KDOP< N > &other) const
Check whether two KDOPs overlap.
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:198
hpp::fcl::KDOP::KDOP
KDOP(const Vec3f &v)
Creating kDOP containing only one point.
hpp::fcl::KDOP::distance
FCL_REAL distance(const KDOP< N > &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
The distance between two KDOP<N>. Not implemented.
hpp::fcl::KDOP::height
FCL_REAL height() const
The (AABB) height.
Definition: kDOP.h:148
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp::fcl::KDOP::dist
FCL_REAL dist(short i) const
Definition: kDOP.h:165
hpp::fcl::translate
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
hpp
Main namespace.
Definition: AABB.h:44
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::KDOP::KDOP
KDOP()
Creating kDOP containing nothing.
hpp::fcl::KDOP::overlap
bool overlap(const KDOP< N > &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Check whether two KDOPs overlap.
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::KDOP::size
FCL_REAL size() const
Size of the kDOP (used in BV_Splitter to order two kDOPs)
Definition: kDOP.h:129
hpp::fcl::KDOP
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:90
hpp::fcl::KDOP::volume
FCL_REAL volume() const
The (AABB) volume.
Definition: kDOP.h:160
hpp::fcl::KDOP::depth
FCL_REAL depth() const
The (AABB) depth.
Definition: kDOP.h:154
hpp::fcl::KDOP::center
Vec3f center() const
The (AABB) center.
Definition: kDOP.h:135
hpp::fcl::KDOP::dist
FCL_REAL & dist(short i)
Definition: kDOP.h:170
hpp::fcl::KDOP::KDOP
KDOP(const Vec3f &a, const Vec3f &b)
Creating kDOP containing two points.