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

hpp-fcl 1.7.2 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 struct HPP_FCL_DLLAPI RSS
56 {
59 Matrix3f axes;
60
62 Vec3f Tr;
63
65 FCL_REAL length[2];
66
68 FCL_REAL radius;
69
71 RSS()
72 : axes(Matrix3f::Zero())
73 , Tr(Vec3f::Zero())
74 , radius(-1)
75 {
76 length[0] = 0; length[1] = 0;
77 }
78
80 bool operator==(const RSS & other) const
81 {
82 return
83 axes == other.axes
84 && Tr == other.Tr
85 && length[0] == other.length[0]
86 && length[1] == other.length[1]
87 && radius == other.radius;
88 }
89
91 bool operator!=(const RSS & other) const
92 {
93 return !(*this == other);
94 }
95
97 bool contain(const Vec3f& p) const;
98
100 bool overlap(const RSS& other) const;
101
103 bool overlap(const RSS& other, const CollisionRequest&,
104 FCL_REAL& sqrDistLowerBound) const
105 {
106 sqrDistLowerBound = sqrt (-1);
107 return overlap (other);
108 }
109
111 FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
112
115 RSS& operator += (const Vec3f& p);
116
118 inline RSS& operator += (const RSS& other)
119 {
120 *this = *this + other;
121 return *this;
122 }
123
125 RSS operator + (const RSS& other) const;
126
127
129 inline FCL_REAL size() const
130 {
131 return (std::sqrt(length[0] * length[0] + length[1] * length[1]) + 2 * radius);
132 }
133
135 inline const Vec3f& center() const
136 {
137 return Tr;
138 }
139
141 inline FCL_REAL width() const
142 {
143 return length[0] + 2 * radius;
144 }
145
147 inline FCL_REAL height() const
148 {
149 return length[1] + 2 * radius;
150 }
151
153 inline FCL_REAL depth() const
154 {
155 return 2 * radius;
156 }
157
159 inline FCL_REAL volume() const
160 {
161 return (length[0] * length[1] * 2 * radius + 4 * boost::math::constants::pi<FCL_REAL>() * radius * radius * radius);
162 }
163
166 bool overlap(const RSS& other, RSS& /*overlap_part*/) const
167 {
168 return overlap(other);
169 }
170 };
171
175 HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
176 const RSS& b1, const RSS& b2,
177 Vec3f* P = NULL, Vec3f* Q = NULL);
178
179
181 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
182 const RSS& b1, const RSS& b2);
183
185 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
186 const RSS& b1, const RSS& b2,
187 const CollisionRequest& request,
188 FCL_REAL& sqrDistLowerBound);
189
190 }
191
192
193 } // namespace hpp
194
195 #endif
data_types.h
hpp::fcl::RSS::RSS
RSS()
&#160;
Definition: RSS.h:71
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:166
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::depth
FCL_REAL depth() const
Depth of the RSS.
Definition: RSS.h:153
hpp::fcl::RSS::Tr
Vec3f Tr
Origin of the rectangle in RSS.
Definition: RSS.h:62
hpp::fcl::RSS::volume
FCL_REAL volume() const
Volume of the RSS.
Definition: RSS.h:159
hpp::fcl::RSS::size
FCL_REAL size() const
Size of the RSS (used in BV_Splitter to order two RSSs)
Definition: RSS.h:129
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::overlap
bool overlap(const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
Not implemented.
Definition: RSS.h:103
hpp::fcl::RSS::radius
FCL_REAL radius
Radius of sphere summed with rectangle to form RSS.
Definition: RSS.h:68
hpp::fcl::RSS::width
FCL_REAL width() const
Width of the RSS.
Definition: RSS.h:141
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::operator!=
bool operator!=(const RSS &other) const
Difference operator.
Definition: RSS.h:91
hpp::fcl::RSS::length
FCL_REAL length[2]
Side lengths of rectangle.
Definition: RSS.h:65
hpp::fcl::RSS::overlap
bool overlap(const RSS &other) const
Check collision between two RSS.
hpp::fcl::RSS::operator==
bool operator==(const RSS &other) const
Equality operator.
Definition: RSS.h:80
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:59
hpp::fcl::RSS::center
const Vec3f & center() const
The RSS center.
Definition: RSS.h:135
hpp::fcl::RSS::contain
bool contain(const Vec3f &p) const
Check whether the RSS contains a point.
hpp::fcl::RSS::height
FCL_REAL height() const
Height of the RSS.
Definition: RSS.h:147
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp
Main namespace.
Definition: AABB.h:44
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:209
hpp::fcl::RSS
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:56