hpp-fcl 2.2.0
HPP fork of FCL -- The Flexible Collision Library
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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#ifdef HPP_FCL_HAS_OCTOMAP
49#define OCTOMAP_VERSION_AT_LEAST(x, y, z) \
50 (OCTOMAP_MAJOR_VERSION > x || \
51 (OCTOMAP_MAJOR_VERSION >= x && \
52 (OCTOMAP_MINOR_VERSION > y || \
53 (OCTOMAP_MINOR_VERSION >= y && OCTOMAP_PATCH_VERSION >= z))))
54
55#define OCTOMAP_VERSION_AT_MOST(x, y, z) \
56 (OCTOMAP_MAJOR_VERSION < x || \
57 (OCTOMAP_MAJOR_VERSION <= x && \
58 (OCTOMAP_MINOR_VERSION < y || \
59 (OCTOMAP_MINOR_VERSION <= y && OCTOMAP_PATCH_VERSION <= z))))
60#endif // HPP_FCL_HAS_OCTOMAP
61} // namespace hpp
62
63namespace hpp {
64namespace fcl {
65typedef double FCL_REAL;
66typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
67typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> VecXf;
68typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
69typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3> Matrixx3f;
70typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3> Matrixx3i;
71typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;
72typedef Eigen::Vector2i support_func_guess_t;
73
81
84
90
94
97 public:
98 typedef std::size_t index_type;
99 typedef int size_type;
100
103
105 Triangle(index_type p1, index_type p2, index_type p3) { set(p1, p2, p3); }
106
108 inline void set(index_type p1, index_type p2, index_type p3) {
109 vids[0] = p1;
110 vids[1] = p2;
111 vids[2] = p3;
112 }
113
115 inline index_type operator[](index_type i) const { return vids[i]; }
116
117 inline index_type& operator[](index_type i) { return vids[i]; }
118
119 static inline size_type size() { return 3; }
120
121 bool operator==(const Triangle& other) const {
122 return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
123 vids[2] == other.vids[2];
124 }
125
126 bool operator!=(const Triangle& other) const { return !(*this == other); }
127
128 private:
130 index_type vids[3];
131};
132
135 typedef std::size_t index_type;
136 typedef int size_type;
137
139
141 set(p0, p1, p2, p3);
142 }
143
145 inline void set(index_type p0, index_type p1, index_type p2, index_type p3) {
146 vids[0] = p0;
147 vids[1] = p1;
148 vids[2] = p2;
149 vids[3] = p3;
150 }
151
153 inline index_type operator[](index_type i) const { return vids[i]; }
154
155 inline index_type& operator[](index_type i) { return vids[i]; }
156
157 static inline size_type size() { return 4; }
158
159 bool operator==(const Quadrilateral& other) const {
160 return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
161 vids[2] == other.vids[2] && vids[3] == other.vids[3];
162 }
163
164 bool operator!=(const Quadrilateral& other) const {
165 return !(*this == other);
166 }
167
168 private:
169 index_type vids[4];
170};
171
172} // namespace fcl
173
174} // namespace hpp
175
176#endif
Triangle with 3 indices for points.
Definition: data_types.h:96
void set(index_type p1, index_type p2, index_type p3)
Set the vertex indices of the triangle.
Definition: data_types.h:108
index_type operator[](index_type i) const
Access the triangle index.
Definition: data_types.h:115
int size_type
Definition: data_types.h:99
Triangle(index_type p1, index_type p2, index_type p3)
Create a triangle with given vertex indices.
Definition: data_types.h:105
static size_type size()
Definition: data_types.h:119
index_type & operator[](index_type i)
Definition: data_types.h:117
bool operator==(const Triangle &other) const
Definition: data_types.h:121
std::size_t index_type
Definition: data_types.h:98
Triangle()
Default constructor.
Definition: data_types.h:102
bool operator!=(const Triangle &other) const
Definition: data_types.h:126
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
Definition: data_types.h:70
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
GJKVariant
Variant to use for the GJK algorithm.
Definition: data_types.h:83
@ DefaultGJK
Definition: data_types.h:83
@ NesterovAcceleration
Definition: data_types.h:83
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > Matrixx3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic > MatrixXf
Definition: data_types.h:71
GJKConvergenceCriterionType
Wether the convergence criterion is scaled on the norm of the solution or not.
Definition: data_types.h:93
@ Relative
Definition: data_types.h:93
@ Absolute
Definition: data_types.h:93
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 > VecXf
Definition: data_types.h:67
GJKConvergenceCriterion
Which convergence criterion is used to stop the algorithm (when the shapes are not in collision)....
Definition: data_types.h:89
@ DualityGap
Definition: data_types.h:89
@ VDB
Definition: data_types.h:89
@ Hybrid
Definition: data_types.h:89
GJKInitialGuess
Initial guess to use for the GJK algorithm DefaultGuess: Vec3f(1, 0, 0) CachedGuess: previous vector ...
Definition: data_types.h:80
@ BoundingVolumeGuess
Definition: data_types.h:80
@ CachedGuess
Definition: data_types.h:80
@ DefaultGuess
Definition: data_types.h:80
double FCL_REAL
Definition: data_types.h:65
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:72
Main namespace.
Definition: broadphase_bruteforce.h:44
Quadrilateral with 4 indices for points.
Definition: data_types.h:134
bool operator!=(const Quadrilateral &other) const
Definition: data_types.h:164
Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3)
Definition: data_types.h:140
index_type operator[](index_type i) const
@access the quadrilateral index
Definition: data_types.h:153
Quadrilateral()
Definition: data_types.h:138
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:145
int size_type
Definition: data_types.h:136
bool operator==(const Quadrilateral &other) const
Definition: data_types.h:159
index_type & operator[](index_type i)
Definition: data_types.h:155
std::size_t index_type
Definition: data_types.h:135
static size_type size()
Definition: data_types.h:157