hpp-fcl
1.7.2
HPP fork of FCL -- The Flexible Collision Library
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38 #ifndef HPP_FCL_KDOP_H
39 #define HPP_FCL_KDOP_H
49 struct CollisionRequest;
93 Eigen::Array<FCL_REAL, N, 1>
dist_;
109 return (dist_ == other.
dist_).all();
115 return (dist_ != other.
dist_).any();
143 return width() * width() + height() * height() + depth() * depth();
149 return (dist_.template head<3>() + dist_.template segment<3>(N/2)) / 2;
156 return dist_[N / 2] - dist_[0];
162 return dist_[N / 2 + 1] - dist_[1];
168 return dist_[N / 2 + 2] - dist_[2];
174 return width() * height() * depth();
188 bool inside(
const Vec3f& p)
const;
192 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
200 throw std::logic_error (
"not implemented");
208 throw std::logic_error (
"not implemented");
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
bool operator!=(const KDOP &other) const
Difference operator.
Definition: kDOP.h:113
FCL_REAL depth() const
The (AABB) depth.
Definition: kDOP.h:166
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.
FCL_REAL volume() const
The (AABB) volume.
Definition: kDOP.h:172
double FCL_REAL
Definition: data_types.h:66
FCL_REAL dist(short i) const
Definition: kDOP.h:177
Main namespace.
Definition: AABB.h:43
request to the collision algorithm
Definition: collision_data.h:208
bool operator==(const KDOP &other) const
Equality operator.
Definition: kDOP.h:107
FCL_REAL & dist(short i)
Definition: kDOP.h:182
FCL_REAL height() const
The (AABB) height.
Definition: kDOP.h:160
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
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.
Vec3f center() const
The (AABB) center.
Definition: kDOP.h:147
FCL_REAL width() const
The (AABB) width.
Definition: kDOP.h:154
Eigen::Array< FCL_REAL, N, 1 > dist_
Origin's distances to N KDOP planes.
Definition: kDOP.h:93
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:89
FCL_REAL size() const
Size of the kDOP (used in BV_Splitter to order two kDOPs)
Definition: kDOP.h:141