hpp-fcl  1.7.0
HPP fork of FCL -- The Flexible Collision Library
OBBRSS.h
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35 
38 #ifndef HPP_FCL_OBBRSS_H
39 #define HPP_FCL_OBBRSS_H
40 
41 
42 #include <hpp/fcl/BV/OBB.h>
43 #include <hpp/fcl/BV/RSS.h>
44 
45 namespace hpp
46 {
47 namespace fcl
48 {
49 
50  struct CollisionRequest;
51 
54 
57 {
58 
61 
64 
66  bool operator==(const OBBRSS & other) const
67  {
68  return
69  obb == other.obb
70  && rss == other.rss;
71  }
72 
74  bool operator!=(const OBBRSS & other) const
75  {
76  return !(*this == other);
77  }
78 
80  inline bool contain(const Vec3f& p) const
81  {
82  return obb.contain(p);
83  }
84 
86  bool overlap(const OBBRSS& other) const
87  {
88  return obb.overlap(other.obb);
89  }
90 
94  bool overlap(const OBBRSS& other, const CollisionRequest& request,
95  FCL_REAL& sqrDistLowerBound) const
96  {
97  return obb.overlap(other.obb, request, sqrDistLowerBound);
98  }
99 
101  FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
102  {
103  return rss.distance(other.rss, P, Q);
104  }
105 
107  OBBRSS& operator += (const Vec3f& p)
108  {
109  obb += p;
110  rss += p;
111  return *this;
112  }
113 
115  OBBRSS& operator += (const OBBRSS& other)
116  {
117  *this = *this + other;
118  return *this;
119  }
120 
122  OBBRSS operator + (const OBBRSS& other) const
123  {
124  OBBRSS result;
125  result.obb = obb + other.obb;
126  result.rss = rss + other.rss;
127  return result;
128  }
129 
131  inline FCL_REAL size() const
132  {
133  return obb.size();
134  }
135 
137  inline const Vec3f& center() const
138  {
139  return obb.center();
140  }
141 
143  inline FCL_REAL width() const
144  {
145  return obb.width();
146  }
147 
149  inline FCL_REAL height() const
150  {
151  return obb.height();
152  }
153 
155  inline FCL_REAL depth() const
156  {
157  return obb.depth();
158  }
159 
161  inline FCL_REAL volume() const
162  {
163  return obb.volume();
164  }
165 };
166 
168 inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2)
169 {
170  return overlap(R0, T0, b1.obb, b2.obb);
171 }
172 
178 inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
179  const OBBRSS& b2, const CollisionRequest& request,
180  FCL_REAL& sqrDistLowerBound)
181 {
182  return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
183 }
184 
186 inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL)
187 {
188  return distance(R0, T0, b1.rss, b2.rss, P, Q);
189 }
190 
191 }
192 
193 
194 } // namespace hpp
195 
196 #endif
bool overlap(const OBBRSS &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Definition: OBBRSS.h:94
FCL_REAL width() const
Width of the OBRSS.
Definition: OBBRSS.h:143
OBB obb
OBB member, for rotation.
Definition: OBBRSS.h:60
FCL_REAL volume() const
Volume of the OBB.
Definition: OBB.h:148
Main namespace.
Definition: AABB.h:43
bool operator!=(const OBBRSS &other) const
Difference operator.
Definition: OBBRSS.h:74
FCL_REAL height() const
Height of the OBB.
Definition: OBB.h:136
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
FCL_REAL volume() const
Volume of the OBBRSS.
Definition: OBBRSS.h:161
bool overlap(const OBB &other) const
const Vec3f & center() const
Center of the OBBRSS.
Definition: OBBRSS.h:137
request to the collision algorithm
Definition: collision_data.h:203
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 contain(const Vec3f &p) const
Check whether the OBBRSS contains a point.
Definition: OBBRSS.h:80
bool operator==(const OBBRSS &other) const
Equality operator.
Definition: OBBRSS.h:66
double FCL_REAL
Definition: data_types.h:66
RSS rss
RSS member, for distance.
Definition: OBBRSS.h:63
FCL_REAL depth() const
Depth of the OBB.
Definition: OBB.h:142
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:55
bool overlap(const OBBRSS &other) const
Check collision between two OBBRSS.
Definition: OBBRSS.h:86
FCL_REAL distance(const OBBRSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.
Definition: OBBRSS.h:101
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 size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: OBB.h:118
bool contain(const Vec3f &p) const
Check whether the OBB contains a point.
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 height() const
Height of the OBBRSS.
Definition: OBBRSS.h:149
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
const Vec3f & center() const
Center of the OBB.
Definition: OBB.h:124
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:130
FCL_REAL depth() const
Depth of the OBBRSS.
Definition: OBBRSS.h:155
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:56
FCL_REAL size() const
Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
Definition: OBBRSS.h:131
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Oriented bounding box class.
Definition: OBB.h:54