hpp-fcl 2.3.0
HPP fork of FCL -- The Flexible Collision Library
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RSS.h
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35
38#ifndef HPP_FCL_RSS_H
39#define HPP_FCL_RSS_H
40
41#include <hpp/fcl/data_types.h>
42#include <boost/math/constants/constants.hpp>
43
44namespace hpp {
45namespace fcl {
46
47struct CollisionRequest;
48
51
60
63
65 FCL_REAL length[2];
66
69
71 RSS() : axes(Matrix3f::Zero()), Tr(Vec3f::Zero()), radius(-1) {
72 length[0] = 0;
73 length[1] = 0;
74 }
75
77 bool operator==(const RSS& other) const {
78 return axes == other.axes && Tr == other.Tr &&
79 length[0] == other.length[0] && length[1] == other.length[1] &&
80 radius == other.radius;
81 }
82
84 bool operator!=(const RSS& other) const { return !(*this == other); }
85
87 bool contain(const Vec3f& p) const;
88
90 bool overlap(const RSS& other) const;
91
93 bool overlap(const RSS& other, const CollisionRequest&,
94 FCL_REAL& sqrDistLowerBound) const {
95 sqrDistLowerBound = sqrt(-1);
96 return overlap(other);
97 }
98
101 FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
102
105 RSS& operator+=(const Vec3f& p);
106
108 inline RSS& operator+=(const RSS& other) {
109 *this = *this + other;
110 return *this;
111 }
112
114 RSS operator+(const RSS& other) const;
115
117 inline FCL_REAL size() const {
118 return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
119 2 * radius);
120 }
121
123 inline const Vec3f& center() const { return Tr; }
124
126 inline FCL_REAL width() const { return length[0] + 2 * radius; }
127
129 inline FCL_REAL height() const { return length[1] + 2 * radius; }
130
132 inline FCL_REAL depth() const { return 2 * radius; }
133
135 inline FCL_REAL volume() const {
136 return (length[0] * length[1] * 2 * radius +
137 4 * boost::math::constants::pi<FCL_REAL>() * radius * radius *
138 radius);
139 }
140
144 bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
145 return overlap(other);
146 }
147};
148
155 const RSS& b1, const RSS& b2, Vec3f* P = NULL,
156 Vec3f* Q = NULL);
157
160HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1,
161 const RSS& b2);
162
165HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1,
166 const RSS& b2, const CollisionRequest& request,
167 FCL_REAL& sqrDistLowerBound);
168
169} // namespace fcl
170
171} // namespace hpp
172
173#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:64
RSS()
&#160;
Definition: RSS.h:71
RSS & operator+=(const Vec3f &p)
A simple way to merge the RSS and a point, not compact.
bool overlap(const RSS &other, RSS &) const
Check collision between two RSS and return the overlap part. For RSS, we return nothing,...
Definition: RSS.h:144
FCL_REAL distance(const RSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
the distance between two RSS; P and Q, if not NULL, return the nearest points
FCL_REAL depth() const
Depth of the RSS.
Definition: RSS.h:132
Vec3f Tr
Origin of the rectangle in RSS.
Definition: RSS.h:62
FCL_REAL volume() const
Volume of the RSS.
Definition: RSS.h:135
FCL_REAL size() const
Size of the RSS (used in BV_Splitter to order two RSSs)
Definition: RSS.h:117
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
RSS operator+(const RSS &other) const
Return the merged RSS of current RSS and the other one.
bool overlap(const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
Not implemented.
Definition: RSS.h:93
const Vec3f & center() const
The RSS center.
Definition: RSS.h:123
FCL_REAL radius
Radius of sphere summed with rectangle to form RSS.
Definition: RSS.h:68
FCL_REAL width() const
Width of the RSS.
Definition: RSS.h:126
RSS & operator+=(const RSS &other)
Merge the RSS and another RSS.
Definition: RSS.h:108
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.
bool operator!=(const RSS &other) const
Difference operator.
Definition: RSS.h:84
FCL_REAL length[2]
Side lengths of rectangle.
Definition: RSS.h:65
bool overlap(const RSS &other) const
Check collision between two RSS.
bool operator==(const RSS &other) const
Equality operator.
Definition: RSS.h:77
Matrix3f axes
Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i...
Definition: RSS.h:59
bool contain(const Vec3f &p) const
Check whether the RSS contains a point.
FCL_REAL height() const
Height of the RSS.
Definition: RSS.h:129
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44
request to the collision algorithm
Definition: collision_data.h:235
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:53