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

hpp-fcl 1.7.5 HPP fork of FCL -- The Flexible Collision Library

OBB.h
Go to the documentation of this file.
1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
38 #ifndef HPP_FCL_OBB_H
39 #define HPP_FCL_OBB_H
40
41 #include <hpp/fcl/data_types.h>
42
43 namespace hpp
44 {
45 namespace fcl
46 {
47
48 struct CollisionRequest;
49
52
54 struct HPP_FCL_DLLAPI OBB
55 {
58 Matrix3f axes;
59
61 Vec3f To;
62
64 Vec3f extent;
65
66 OBB()
67 : axes(Matrix3f::Zero())
68 , To(Vec3f::Zero())
69 , extent(Vec3f::Zero())
70 {}
71
73 bool operator==(const OBB & other) const
74 {
75 return
76 axes == other.axes
77 && To == other.To
78 && extent == other.extent;
79 }
80
82 bool operator!=(const OBB & other) const
83 {
84 return !(*this == other);
85 }
86
88 bool contain(const Vec3f& p) const;
89
92 bool overlap(const OBB& other) const;
93
98 bool overlap(const OBB& other, const CollisionRequest& request,
99 FCL_REAL& sqrDistLowerBound) const;
100
102 FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
103
105 OBB& operator += (const Vec3f& p);
106
108 OBB& operator += (const OBB& other)
109 {
110 *this = *this + other;
111 return *this;
112 }
113
115 OBB operator + (const OBB& other) const;
116
118 inline FCL_REAL size() const
119 {
120 return extent.squaredNorm();
121 }
122
124 inline const Vec3f& center() const
125 {
126 return To;
127 }
128
130 inline FCL_REAL width() const
131 {
132 return 2 * extent[0];
133 }
134
136 inline FCL_REAL height() const
137 {
138 return 2 * extent[1];
139 }
140
142 inline FCL_REAL depth() const
143 {
144 return 2 * extent[2];
145 }
146
148 inline FCL_REAL volume() const
149 {
150 return width() * height() * depth();
151 }
152 };
153
154
156 HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t);
157
159 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
160 const OBB& b1, const OBB& b2);
161
163 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
164 const OBB& b2, const CollisionRequest& request,
165 FCL_REAL& sqrDistLowerBound);
166
167
173 HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T,
174 const Vec3f& a, const Vec3f& b);
175 }
176
177 } // namespace hpp
178
179 #endif
data_types.h
hpp::fcl::OBB::height
FCL_REAL height() const
Height of the OBB.
Definition: OBB.h:136
hpp::fcl::OBB::distance
FCL_REAL distance(const OBB &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
Distance between two OBBs, not implemented.
hpp::fcl::OBB::OBB
OBB()
Definition: OBB.h:66
hpp::fcl::OBB::axes
Matrix3f axes
Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i...
Definition: OBB.h:58
hpp::fcl::OBB::overlap
bool overlap(const OBB &other) const
hpp::fcl::OBB::extent
Vec3f extent
Half dimensions of OBB.
Definition: OBB.h:64
hpp::fcl::OBB::depth
FCL_REAL depth() const
Depth of the OBB.
Definition: OBB.h:142
hpp::fcl::OBB::operator!=
bool operator!=(const OBB &other) const
Difference operator.
Definition: OBB.h:82
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::volume
FCL_REAL volume() const
Volume of the OBB.
Definition: OBB.h:148
hpp::fcl::OBB::width
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:130
hpp::fcl::OBB::contain
bool contain(const Vec3f &p) const
Check whether the OBB contains a point.
hpp::fcl::OBB::operator==
bool operator==(const OBB &other) const
Equality operator.
Definition: OBB.h:73
hpp::fcl::OBB::center
const Vec3f & center() const
Center of the OBB.
Definition: OBB.h:124
hpp::fcl::OBB::overlap
bool overlap(const OBB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
hpp::fcl::obbDisjoint
bool obbDisjoint(const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)
hpp::fcl::OBB::size
FCL_REAL size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: OBB.h:118
hpp::fcl::OBB::To
Vec3f To
Center of OBB.
Definition: OBB.h:61
hpp::fcl::translate
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
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::OBB
Oriented bounding box class.
Definition: OBB.h:55