hpp-fcl  1.8.1
HPP fork of FCL -- The Flexible Collision Library
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 
44 namespace hpp
45 {
46 namespace fcl
47 {
48 
49 struct CollisionRequest;
50 
53 
56 {
60 
63 
65  FCL_REAL length[2];
66 
69 
71  RSS()
72  : axes(Matrix3f::Zero())
73  , Tr(Vec3f::Zero())
74  , radius(-1)
75  {
76  length[0] = 0; length[1] = 0;
77  }
78 
80  bool operator==(const RSS & other) const
81  {
82  return
83  axes == other.axes
84  && Tr == other.Tr
85  && length[0] == other.length[0]
86  && length[1] == other.length[1]
87  && radius == other.radius;
88  }
89 
91  bool operator!=(const RSS & other) const
92  {
93  return !(*this == other);
94  }
95 
97  bool contain(const Vec3f& p) const;
98 
100  bool overlap(const RSS& other) const;
101 
103  bool overlap(const RSS& other, const CollisionRequest&,
104  FCL_REAL& sqrDistLowerBound) const
105  {
106  sqrDistLowerBound = sqrt (-1);
107  return overlap (other);
108  }
109 
111  FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
112 
115  RSS& operator += (const Vec3f& p);
116 
118  inline RSS& operator += (const RSS& other)
119  {
120  *this = *this + other;
121  return *this;
122  }
123 
125  RSS operator + (const RSS& other) const;
126 
127 
129  inline FCL_REAL size() const
130  {
131  return (std::sqrt(length[0] * length[0] + length[1] * length[1]) + 2 * radius);
132  }
133 
135  inline const Vec3f& center() const
136  {
137  return Tr;
138  }
139 
141  inline FCL_REAL width() const
142  {
143  return length[0] + 2 * radius;
144  }
145 
147  inline FCL_REAL height() const
148  {
149  return length[1] + 2 * radius;
150  }
151 
153  inline FCL_REAL depth() const
154  {
155  return 2 * radius;
156  }
157 
159  inline FCL_REAL volume() const
160  {
161  return (length[0] * length[1] * 2 * radius + 4 * boost::math::constants::pi<FCL_REAL>() * radius * radius * radius);
162  }
163 
166  bool overlap(const RSS& other, RSS& /*overlap_part*/) const
167  {
168  return overlap(other);
169  }
170 };
171 
175 HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
176  const RSS& b1, const RSS& b2,
177  Vec3f* P = NULL, Vec3f* Q = NULL);
178 
179 
181 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
182  const RSS& b1, const RSS& b2);
183 
185 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
186  const RSS& b1, const RSS& b2,
187  const CollisionRequest& request,
188  FCL_REAL& sqrDistLowerBound);
189 
190 }
191 
192 
193 } // namespace hpp
194 
195 #endif
const Vec3f & center() const
The RSS center.
Definition: RSS.h:135
FCL_REAL depth() const
Depth of the RSS.
Definition: RSS.h:153
Main namespace.
Definition: AABB.h:43
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
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
FCL_REAL height() const
Height of the RSS.
Definition: RSS.h:147
request to the collision algorithm
Definition: collision_data.h:209
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.
bool overlap(const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
Not implemented.
Definition: RSS.h:103
Vec3f Tr
Origin of the rectangle in RSS.
Definition: RSS.h:62
double FCL_REAL
Definition: data_types.h:66
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:55
bool operator==(const RSS &other) const
Equality operator.
Definition: RSS.h:80
FCL_REAL radius
Radius of sphere summed with rectangle to form RSS.
Definition: RSS.h:68
FCL_REAL volume() const
Volume of the RSS.
Definition: RSS.h:159
bool overlap(const RSS &other, RSS &) const
Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.
Definition: RSS.h:166
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.
FCL_REAL size() const
Size of the RSS (used in BV_Splitter to order two RSSs)
Definition: RSS.h:129
FCL_REAL width() const
Width of the RSS.
Definition: RSS.h:141
RSS()
 .
Definition: RSS.h:71
FCL_REAL length[2]
Side lengths of rectangle.
Definition: RSS.h:65
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
bool operator!=(const RSS &other) const
Difference operator.
Definition: RSS.h:91
#define HPP_FCL_DLLAPI
Definition: config.hh:64