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

hpp-fcl 1.8.0 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
46namespace 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
62namespace hpp
63{
64namespace fcl
65{
66 typedef double FCL_REAL;
67 typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
68 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> VecXf;
69 typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
70 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3> Matrixx3f;
71 typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3> Matrixx3i;
72 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;
73 typedef Eigen::Vector2i support_func_guess_t;
74
76 class HPP_FCL_DLLAPI Triangle
77{
78public:
79 typedef std::size_t index_type;
80 typedef int size_type;
81
83 Triangle() {}
84
86 Triangle(index_type p1, index_type p2, index_type p3)
87 {
88 set(p1, p2, p3);
89 }
90
92 inline void set(index_type p1, index_type p2, index_type p3)
93 {
94 vids[0] = p1; vids[1] = p2; vids[2] = p3;
95 }
96
98 inline index_type operator[](int i) const { return vids[i]; }
99
100 inline index_type& operator[](int i) { return vids[i]; }
101
102 static inline size_type size() { return 3; }
103
104 bool operator==(const Triangle& other) const
105 {
106 return vids[0] == other.vids[0]
107 && vids[1] == other.vids[1]
108 && vids[2] == other.vids[2];
109 }
110
111 bool operator!=(const Triangle& other) const
112 {
113 return !(*this == other);
114 }
115
116private:
118 index_type vids[3];
119};
120
122 struct HPP_FCL_DLLAPI Quadrilateral
123{
124 typedef std::size_t index_type;
125 typedef int size_type;
126
127 Quadrilateral() {}
128
129 Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3)
130 {
131 set(p0, p1, p2, p3);
132 }
133
135 inline void set(index_type p0, index_type p1, index_type p2, index_type p3)
136 {
137 vids[0] = p0; vids[1] = p1; vids[2] = p2; vids[3] = p3;
138 }
139
141 inline index_type operator[](unsigned int i) const { return vids[i]; }
142
143 inline index_type& operator[](unsigned int i) { return vids[i]; }
144
145 static inline size_type size() { return 4; }
146
147 bool operator==(const Quadrilateral& other) const
148 {
149 return vids[0] == other.vids[0]
150 && vids[1] == other.vids[1]
151 && vids[2] == other.vids[2]
152 && vids[3] == other.vids[3];
153 }
154
155 bool operator!=(const Quadrilateral& other) const
156 {
157 return !(*this == other);
158 }
159
160private:
161 index_type vids[4];
162};
163
164}
165
166} // namespace hpp
167
168
169#endif
hpp::fcl::Triangle
Triangle with 3 indices for points.
Definition: data_types.h:77
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:92
hpp::fcl::Triangle::operator[]
index_type & operator[](int i)
Definition: data_types.h:100
hpp::fcl::Triangle::size_type
int size_type
Definition: data_types.h:80
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:86
hpp::fcl::Triangle::size
static size_type size()
Definition: data_types.h:102
hpp::fcl::Triangle::operator[]
index_type operator[](int i) const
Access the triangle index.
Definition: data_types.h:98
hpp::fcl::Triangle::operator==
bool operator==(const Triangle &other) const
Definition: data_types.h:104
hpp::fcl::Triangle::index_type
std::size_t index_type
Definition: data_types.h:79
hpp::fcl::Triangle::Triangle
Triangle()
Default constructor.
Definition: data_types.h:83
hpp::fcl::Triangle::operator!=
bool operator!=(const Triangle &other) const
Definition: data_types.h:111
hpp::fcl::Matrixx3i
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
Definition: data_types.h:71
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
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:70
hpp::fcl::MatrixXf
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic > MatrixXf
Definition: data_types.h:72
hpp::fcl::VecXf
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 > VecXf
Definition: data_types.h:68
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:73
hpp
Main namespace.
Definition: AABB.h:44
hpp::fcl::Quadrilateral
Quadrilateral with 4 indices for points.
Definition: data_types.h:123
hpp::fcl::Quadrilateral::operator!=
bool operator!=(const Quadrilateral &other) const
Definition: data_types.h:155
hpp::fcl::Quadrilateral::Quadrilateral
Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3)
Definition: data_types.h:129
hpp::fcl::Quadrilateral::Quadrilateral
Quadrilateral()
Definition: data_types.h:127
hpp::fcl::Quadrilateral::operator[]
index_type & operator[](unsigned int i)
Definition: data_types.h:143
hpp::fcl::Quadrilateral::set
void set(index_type p0, index_type p1, index_type p2, index_type p3)
Set the vertex indices of the quadrilateral.
Definition: data_types.h:135
hpp::fcl::Quadrilateral::size_type
int size_type
Definition: data_types.h:125
hpp::fcl::Quadrilateral::operator==
bool operator==(const Quadrilateral &other) const
Definition: data_types.h:147
hpp::fcl::Quadrilateral::operator[]
index_type operator[](unsigned int i) const
@access the quadrilatere index
Definition: data_types.h:141
hpp::fcl::Quadrilateral::index_type
std::size_t index_type
Definition: data_types.h:124
hpp::fcl::Quadrilateral::size
static size_type size()
Definition: data_types.h:145