hpp-fcl  1.7.1
HPP fork of FCL -- The Flexible Collision Library
data_types.h
Go to the documentation of this file.
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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 
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
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
bool operator!=(const Triangle &other) const
Definition: data_types.h:109
index_type & operator[](int i)
Definition: data_types.h:98
std::size_t index_type
Definition: data_types.h:77
Triangle()
Default constructor.
Definition: data_types.h:81
double FCL_REAL
Definition: data_types.h:66
index_type operator[](int i) const
Access the triangle index.
Definition: data_types.h:96
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
Definition: data_types.h:70
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > Matrixx3f
Definition: data_types.h:69
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:71
Triangle with 3 indices for points.
Definition: data_types.h:74
static size_type size()
Definition: data_types.h:100
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:84
int size_type
Definition: data_types.h:78
#define HPP_FCL_DLLAPI
Definition: config.hh:64
bool operator==(const Triangle &other) const
Definition: data_types.h:102