hpp-fcl  1.4.5
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 <cstddef>
42 #include <boost/cstdint.hpp>
43 
44 #include <Eigen/Core>
45 #include <Eigen/Geometry>
46 
47 #include <hpp/fcl/config.hh>
48 
49 namespace hpp
50 {
51 
52 #ifdef HPP_FCL_HAVE_OCTOMAP
53  #define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
54  (OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
55  (OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
56  OCTOMAP_PATCH_VERSION >= z))))
57 
58  #define OCTOMAP_VERSION_AT_MOST(x,y,z) \
59  (OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
60  (OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
61  OCTOMAP_PATCH_VERSION <= z))))
62 #endif // HPP_FCL_HAVE_OCTOMAP
63 }
64 
65 namespace hpp
66 {
67 namespace fcl
68 {
69 typedef double FCL_REAL;
70 typedef boost::uint64_t FCL_INT64;
71 typedef boost::int64_t FCL_UINT64;
72 typedef boost::uint32_t FCL_UINT32;
73 typedef boost::int32_t FCL_INT32;
74 typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
75 typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
76 typedef Eigen::Vector2i support_func_guess_t;
77 
80 {
81 public:
82  typedef std::size_t index_type;
83  typedef int size_type;
84 
86  Triangle() {}
87 
89  Triangle(index_type p1, index_type p2, index_type p3)
90  {
91  set(p1, p2, p3);
92  }
93 
95  inline void set(index_type p1, index_type p2, index_type p3)
96  {
97  vids[0] = p1; vids[1] = p2; vids[2] = p3;
98  }
99 
101  inline index_type operator[](int i) const { return vids[i]; }
102 
103  inline index_type& operator[](int i) { return vids[i]; }
104 
105  static inline size_type size() { return 3; }
106 
107  bool operator== (const Triangle& other) const
108  {
109  return vids[0] == other.vids[0]
110  && vids[1] == other.vids[1]
111  && vids[2] == other.vids[2];
112  }
113 
114 private:
116  index_type vids[3];
117 };
118 
119 }
120 
121 } // namespace hpp
122 
123 
124 #endif
boost::uint32_t FCL_UINT32
Definition: data_types.h:72
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:75
index_type & operator[](int i)
Definition: data_types.h:103
std::size_t index_type
Definition: data_types.h:82
Triangle()
Default constructor.
Definition: data_types.h:86
double FCL_REAL
Definition: data_types.h:69
index_type operator[](int i) const
Access the triangle index.
Definition: data_types.h:101
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:76
Triangle with 3 indices for points.
Definition: data_types.h:79
boost::int32_t FCL_INT32
Definition: data_types.h:73
static size_type size()
Definition: data_types.h:105
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:74
boost::uint64_t FCL_INT64
Definition: data_types.h:70
Triangle(index_type p1, index_type p2, index_type p3)
Create a triangle with given vertex indices.
Definition: data_types.h:89
int size_type
Definition: data_types.h:83
boost::int64_t FCL_UINT64
Definition: data_types.h:71
#define HPP_FCL_DLLAPI
Definition: config.hh:64