hpp-fcl  1.8.1
HPP fork of FCL -- The Flexible Collision Library
BVH_utility.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2015, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
39 #ifndef HPP_FCL_BVH_UTILITY_H
40 #define HPP_FCL_BVH_UTILITY_H
41 
42 #include <hpp/fcl/BVH/BVH_model.h>
43 
44 namespace hpp
45 {
46 namespace fcl
47 {
50 template<typename BV>
52 BVHModel<BV>* BVHExtract(const BVHModel<BV>& model, const Transform3f& pose, const AABB& aabb);
53 
54 template<>
56 BVHModel<OBB >* BVHExtract(const BVHModel<OBB >& model, const Transform3f& pose, const AABB& aabb);
57 template<>
59 BVHModel<AABB >* BVHExtract(const BVHModel<AABB >& model, const Transform3f& pose, const AABB& aabb);
60 template<>
62 BVHModel<RSS >* BVHExtract(const BVHModel<RSS >& model, const Transform3f& pose, const AABB& aabb);
63 template<>
65 BVHModel<kIOS >* BVHExtract(const BVHModel<kIOS >& model, const Transform3f& pose, const AABB& aabb);
66 template<>
68 BVHModel<OBBRSS >* BVHExtract(const BVHModel<OBBRSS >& model, const Transform3f& pose, const AABB& aabb);
69 template<>
71 BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model, const Transform3f& pose, const AABB& aabb);
72 template<>
74 BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model, const Transform3f& pose, const AABB& aabb);
75 template<>
77 BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model, const Transform3f& pose, const AABB& aabb);
78 
80 HPP_FCL_DLLAPI void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, Matrix3f& M);
81 
83 HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
84 
86 HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, Matrix3f& axes, Vec3f& center, Vec3f& extent);
87 
89 HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec3f& center, FCL_REAL& radius);
90 
92 HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, const Vec3f& query);
93 
94 }
95 
96 } // namespace hpp
97 
98 #endif
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:56
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:278
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:90
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
Triangle with 3 indices for points.
Definition: data_types.h:77
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
BVHModel< BV > * BVHExtract(const BVHModel< BV > &model, const Transform3f &pose, const AABB &aabb)
Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is con...
FCL_REAL maximumDistance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3f &query)
Compute the maximum distance from a given center point to a point cloud.
void getRadiusAndOriginAndRectangleSize(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
Compute the RSS bounding volume parameters: radius, rectangle size and the origin,...
void circumCircleComputation(const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
Compute the center and radius for a triangle's circumcircle.
double FCL_REAL
Definition: data_types.h:66
void getCovariance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &M)
Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to poin...
void getExtentAndCenter(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
Main namespace.
Definition: AABB.h:44