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

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

RSS.h
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35
38 #ifndef HPP_FCL_RSS_H
39 #define HPP_FCL_RSS_H
40
41 #include <hpp/fcl/data_types.h>
42 #include <boost/math/constants/constants.hpp>
43
44 namespace hpp
45 {
46 namespace fcl
47 {
48
49 struct CollisionRequest;
50
53
55 class HPP_FCL_DLLAPI RSS
56 {
57 public:
60 Matrix3f axes;
61
63 Vec3f Tr;
64
66 FCL_REAL length[2];
67
69 FCL_REAL radius;
70
71
73 bool contain(const Vec3f& p) const;
74
76 bool overlap(const RSS& other) const;
77
79 bool overlap(const RSS& other, const CollisionRequest&,
80 FCL_REAL& sqrDistLowerBound) const
81 {
82 sqrDistLowerBound = sqrt (-1);
83 return overlap (other);
84 }
85
87 FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
88
91 RSS& operator += (const Vec3f& p);
92
94 inline RSS& operator += (const RSS& other)
95 {
96 *this = *this + other;
97 return *this;
98 }
99
101 RSS operator + (const RSS& other) const;
102
103
105 inline FCL_REAL size() const
106 {
107 return (std::sqrt(length[0] * length[0] + length[1] * length[1]) + 2 * radius);
108 }
109
111 inline const Vec3f& center() const
112 {
113 return Tr;
114 }
115
117 inline FCL_REAL width() const
118 {
119 return length[0] + 2 * radius;
120 }
121
123 inline FCL_REAL height() const
124 {
125 return length[1] + 2 * radius;
126 }
127
129 inline FCL_REAL depth() const
130 {
131 return 2 * radius;
132 }
133
135 inline FCL_REAL volume() const
136 {
137 return (length[0] * length[1] * 2 * radius + 4 * boost::math::constants::pi<FCL_REAL>() * radius * radius * radius);
138 }
139
142 bool overlap(const RSS& other, RSS& /*overlap_part*/) const
143 {
144 return overlap(other);
145 }
146 };
147
151 HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
152 const RSS& b1, const RSS& b2,
153 Vec3f* P = NULL, Vec3f* Q = NULL);
154
155
157 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
158 const RSS& b1, const RSS& b2);
159
161 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
162 const RSS& b1, const RSS& b2,
163 const CollisionRequest& request,
164 FCL_REAL& sqrDistLowerBound);
165
166 }
167
168
169 } // namespace hpp
170
171 #endif
data_types.h
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::RSS::axes
Matrix3f axes
Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i...
Definition: RSS.h:60
hpp::fcl::RSS::width
FCL_REAL width() const
Width of the RSS.
Definition: RSS.h:117
hpp::fcl::RSS::size
FCL_REAL size() const
Size of the RSS (used in BV_Splitter to order two RSSs)
Definition: RSS.h:105
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:198
hpp::fcl::RSS::Tr
Vec3f Tr
Origin of the rectangle in RSS.
Definition: RSS.h:63
hpp::fcl::RSS::height
FCL_REAL height() const
Height of the RSS.
Definition: RSS.h:123
hpp::fcl::RSS::radius
FCL_REAL radius
Radius of sphere summed with rectangle to form RSS.
Definition: RSS.h:69
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
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::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::RSS::contain
bool contain(const Vec3f &p) const
Check whether the RSS contains a point.
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::RSS::overlap
bool overlap(const RSS &other, RSS &) const
Check collision between two RSS and return the overlap part. For RSS, we return nothing,...
Definition: RSS.h:142
hpp::fcl::RSS::depth
FCL_REAL depth() const
Depth of the RSS.
Definition: RSS.h:129
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::RSS::center
const Vec3f & center() const
The RSS center.
Definition: RSS.h:111
hpp::fcl::RSS::overlap
bool overlap(const RSS &other) const
Check collision between two RSS.
hpp::fcl::RSS::volume
FCL_REAL volume() const
Volume of the RSS.
Definition: RSS.h:135
hpp::fcl::RSS::overlap
bool overlap(const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
Not implemented.
Definition: RSS.h:79