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();
192 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
200 throw std::logic_error (
"not implemented");
208 throw std::logic_error (
"not implemented");
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:90
#define HPP_FCL_DLLAPI
Definition: config.hh:64
FCL_REAL distance(const KDOP< N > &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
The distance between two KDOP<N>. Not implemented.
KDOP(const Vec3f &v)
Creating kDOP containing only one point.
FCL_REAL size() const
Size of the kDOP (used in BV_Splitter to order two kDOPs)
Definition: kDOP.h:141
bool operator==(const KDOP &other) const
Equality operator.
Definition: kDOP.h:107
Eigen::Array< FCL_REAL, N, 1 > dist_
Origin's distances to N KDOP planes.
Definition: kDOP.h:93
FCL_REAL & dist(short i)
Definition: kDOP.h:182
FCL_REAL volume() const
The (AABB) volume.
Definition: kDOP.h:172
FCL_REAL depth() const
The (AABB) depth.
Definition: kDOP.h:166
KDOP()
Creating kDOP containing nothing.
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
The (AABB) height.
Definition: kDOP.h:160
bool overlap(const KDOP< N > &other) const
Check whether two KDOPs overlap.
bool operator!=(const KDOP &other) const
Difference operator.
Definition: kDOP.h:113
bool overlap(const KDOP< N > &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Check whether two KDOPs overlap.
bool inside(const Vec3f &p) const
FCL_REAL width() const
The (AABB) width.
Definition: kDOP.h:154
KDOP(const Vec3f &a, const Vec3f &b)
Creating kDOP containing two points.
FCL_REAL dist(short i) const
Definition: kDOP.h:177
Vec3f center() const
The (AABB) center.
Definition: kDOP.h:147
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44
request to the collision algorithm
Definition: collision_data.h:210