hpp-fcl: include/hpp/fcl/data_types.h Source File

hpp-fcl 1.7.3 HPP fork of FCL -- The Flexible Collision Library

data_types.h
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35
38 #ifndef HPP_FCL_DATA_TYPES_H
39 #define HPP_FCL_DATA_TYPES_H
40
41 #include <Eigen/Core>
42 #include <Eigen/Geometry>
43
44 #include <hpp/fcl/config.hh>
45
46 namespace hpp
47 {
48
49 #ifdef HPP_FCL_HAS_OCTOMAP
50 #define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
51 (OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
52 (OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
53 OCTOMAP_PATCH_VERSION >= z))))
54
55 #define OCTOMAP_VERSION_AT_MOST(x,y,z) \
56 (OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
57 (OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
58 OCTOMAP_PATCH_VERSION <= z))))
59 #endif // HPP_FCL_HAS_OCTOMAP
60 }
61
62 namespace hpp
63 {
64 namespace fcl
65 {
66 typedef double FCL_REAL;
67 typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
68 typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
69 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3> Matrixx3f;
70 typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3> Matrixx3i;
71 typedef Eigen::Vector2i support_func_guess_t;
72
74 class HPP_FCL_DLLAPI Triangle
75 {
76 public:
77 typedef std::size_t index_type;
78 typedef int size_type;
79
81 Triangle() {}
82
84 Triangle(index_type p1, index_type p2, index_type p3)
85 {
86 set(p1, p2, p3);
87 }
88
90 inline void set(index_type p1, index_type p2, index_type p3)
91 {
92 vids[0] = p1; vids[1] = p2; vids[2] = p3;
93 }
94
96 inline index_type operator[](int i) const { return vids[i]; }
97
98 inline index_type& operator[](int i) { return vids[i]; }
99
100 static inline size_type size() { return 3; }
101
102 bool operator==(const Triangle& other) const
103 {
104 return vids[0] == other.vids[0]
105 && vids[1] == other.vids[1]
106 && vids[2] == other.vids[2];
107 }
108
109 bool operator!=(const Triangle& other) const
110 {
111 return !(*this == other);
112 }
113
114 private:
116 index_type vids[3];
117 };
118
119 }
120
121 } // namespace hpp
122
123
124 #endif
hpp::fcl::Triangle
Triangle with 3 indices for points.
Definition: data_types.h:75
hpp::fcl::Triangle::set
void set(index_type p1, index_type p2, index_type p3)
Set the vertex indices of the triangle.
Definition: data_types.h:90
hpp::fcl::Triangle::size_type
int size_type
Definition: data_types.h:78
hpp::fcl::Triangle::Triangle
Triangle(index_type p1, index_type p2, index_type p3)
Create a triangle with given vertex indices.
Definition: data_types.h:84
hpp::fcl::Triangle::size
static size_type size()
Definition: data_types.h:100
hpp::fcl::Triangle::operator[]
index_type operator[](int i) const
Access the triangle index.
Definition: data_types.h:96
hpp::fcl::Triangle::operator==
bool operator==(const Triangle &other) const
Definition: data_types.h:102
hpp::fcl::Triangle::index_type
std::size_t index_type
Definition: data_types.h:77
hpp::fcl::Triangle::Triangle
Triangle()
Default constructor.
Definition: data_types.h:81
hpp::fcl::Triangle::operator[]
index_type & operator[](int i)
Definition: data_types.h:98
hpp::fcl::Triangle::operator!=
bool operator!=(const Triangle &other) const
Definition: data_types.h:109
hpp::fcl::Matrixx3i
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
Definition: data_types.h:70
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::Matrixx3f
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > Matrixx3f
Definition: data_types.h:69
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp::fcl::support_func_guess_t
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:71
hpp
Main namespace.
Definition: AABB.h:44