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 
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, 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 
77 {
78 public:
79  typedef std::size_t index_type;
80  typedef int size_type;
81 
83  Triangle() {}
84 
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 
116 private:
118  index_type vids[3];
119 };
120 
123 {
124  typedef std::size_t index_type;
125  typedef int size_type;
126 
128 
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 
160 private:
161  index_type vids[4];
162 };
163 
164 }
165 
166 } // namespace hpp
167 
168 
169 #endif
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic > MatrixXf
Definition: data_types.h:72
int size_type
Definition: data_types.h:125
Main namespace.
Definition: AABB.h:43
bool operator!=(const Quadrilateral &other) const
Definition: data_types.h:155
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 > VecXf
Definition: data_types.h:68
Quadrilateral with 4 indices for points.
Definition: data_types.h:122
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
bool operator==(const Quadrilateral &other) const
Definition: data_types.h:147
std::size_t index_type
Definition: data_types.h:124
bool operator!=(const Triangle &other) const
Definition: data_types.h:111
Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3)
Definition: data_types.h:129
index_type & operator[](int i)
Definition: data_types.h:100
std::size_t index_type
Definition: data_types.h:79
index_type & operator[](unsigned int i)
Definition: data_types.h:143
Triangle()
Default constructor.
Definition: data_types.h:83
double FCL_REAL
Definition: data_types.h:66
index_type operator[](int i) const
Access the triangle index.
Definition: data_types.h:98
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
Definition: data_types.h:71
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > Matrixx3f
Definition: data_types.h:70
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:73
Triangle with 3 indices for points.
Definition: data_types.h:76
static size_type size()
Definition: data_types.h:102
Quadrilateral()
Definition: data_types.h:127
static size_type size()
Definition: data_types.h:145
index_type operator[](unsigned int i) const
the quadrilatere index
Definition: data_types.h:141
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:86
int size_type
Definition: data_types.h:80
#define HPP_FCL_DLLAPI
Definition: config.hh:64
bool operator==(const Triangle &other) const
Definition: data_types.h:104