hpp-fcl  1.6.0
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 
46 namespace hpp
47 {
48 
49 #ifdef HPP_FCL_HAVE_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_HAVE_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::Vector2i support_func_guess_t;
70 
73 {
74 public:
75  typedef std::size_t index_type;
76  typedef int size_type;
77 
79  Triangle() {}
80 
82  Triangle(index_type p1, index_type p2, index_type p3)
83  {
84  set(p1, p2, p3);
85  }
86 
88  inline void set(index_type p1, index_type p2, index_type p3)
89  {
90  vids[0] = p1; vids[1] = p2; vids[2] = p3;
91  }
92 
94  inline index_type operator[](int i) const { return vids[i]; }
95 
96  inline index_type& operator[](int i) { return vids[i]; }
97 
98  static inline size_type size() { return 3; }
99 
100  bool operator== (const Triangle& other) const
101  {
102  return vids[0] == other.vids[0]
103  && vids[1] == other.vids[1]
104  && vids[2] == other.vids[2];
105  }
106 
107 private:
109  index_type vids[3];
110 };
111 
112 }
113 
114 } // namespace hpp
115 
116 
117 #endif
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
index_type & operator[](int i)
Definition: data_types.h:96
std::size_t index_type
Definition: data_types.h:75
Triangle()
Default constructor.
Definition: data_types.h:79
double FCL_REAL
Definition: data_types.h:66
index_type operator[](int i) const
Access the triangle index.
Definition: data_types.h:94
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:69
Triangle with 3 indices for points.
Definition: data_types.h:72
static size_type size()
Definition: data_types.h:98
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
Triangle(index_type p1, index_type p2, index_type p3)
Create a triangle with given vertex indices.
Definition: data_types.h:82
int size_type
Definition: data_types.h:76
#define HPP_FCL_DLLAPI
Definition: config.hh:64