GCC Code Coverage Report

Line	Branch	Exec	Source
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
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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
36			/** \author Jia Pan */
37
38			#ifndef COAL_OBB_H
39			#define COAL_OBB_H
40
41			#include "coal/data_types.h"
42
43			namespace coal {
44
45			struct CollisionRequest;
46
47			/// @addtogroup Bounding_Volume
48			/// @{
49
50			/// @brief Oriented bounding box class
51			struct COAL_DLLAPI OBB {
52			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
53
54			/// @brief Orientation of OBB. axis[i] is the ith column of the orientation
55			/// matrix for the box; it is also the i-th principle direction of the box. We
56			/// assume that axis[0] corresponds to the axis with the longest box edge,
57			/// axis[1] corresponds to the shorter one and axis[2] corresponds to the
58			/// shortest one.
59			Matrix3s axes;
60
61			/// @brief Center of OBB
62			Vec3s To;
63
64			/// @brief Half dimensions of OBB
65			Vec3s extent;
66
67	3/6 ✓ Branch 2 taken 3289064 times. ✗ Branch 3 not taken. ✓ Branch 6 taken 3289064 times. ✗ Branch 7 not taken. ✓ Branch 10 taken 3289064 times. ✗ Branch 11 not taken.	3289064	OBB() : axes(Matrix3s::Zero()), To(Vec3s::Zero()), extent(Vec3s::Zero()) {}
68
69			/// @brief Equality operator
70		812109	bool operator==(const OBB& other) const {
71	3/6 ✓ Branch 1 taken 812109 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 812109 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 812109 times. ✗ Branch 8 not taken.	812109	return axes == other.axes && To == other.To && extent == other.extent;
72			}
73
74			/// @brief Difference operator
75			bool operator!=(const OBB& other) const { return !(*this == other); }
76
77			/// @brief Check whether the OBB contains a point.
78			bool contain(const Vec3s& p) const;
79
80			/// Check collision between two OBB
81			/// @return true if collision happens.
82			bool overlap(const OBB& other) const;
83
84			/// Check collision between two OBB
85			/// @return true if collision happens.
86			/// @retval sqrDistLowerBound squared lower bound on distance between boxes if
87			/// they do not overlap.
88			bool overlap(const OBB& other, const CollisionRequest& request,
89			Scalar& sqrDistLowerBound) const;
90
91			/// @brief Distance between two OBBs, not implemented.
92			Scalar distance(const OBB& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
93
94			/// @brief A simple way to merge the OBB and a point (the result is not
95			/// compact).
96			OBB& operator+=(const Vec3s& p);
97
98			/// @brief Merge the OBB and another OBB (the result is not compact).
99		✗	OBB& operator+=(const OBB& other) {
100		✗	this = this + other;
101		✗	return *this;
102			}
103
104			/// @brief Return the merged OBB of current OBB and the other one (the result
105			/// is not compact).
106			OBB operator+(const OBB& other) const;
107
108			/// @brief Size of the OBB (used in BV_Splitter to order two OBBs)
109		1700462	inline Scalar size() const { return extent.squaredNorm(); }
110
111			/// @brief Center of the OBB
112		130672	inline const Vec3s& center() const { return To; }
113
114			/// @brief Width of the OBB.
115		7592	inline Scalar width() const { return 2 * extent[0]; }
116
117			/// @brief Height of the OBB.
118		7592	inline Scalar height() const { return 2 * extent[1]; }
119
120			/// @brief Depth of the OBB
121		7592	inline Scalar depth() const { return 2 * extent[2]; }
122
123			/// @brief Volume of the OBB
124		7592	inline Scalar volume() const { return width() * height() * depth(); }
125			};
126
127			/// @brief Translate the OBB bv
128			COAL_DLLAPI OBB translate(const OBB& bv, const Vec3s& t);
129
130			/// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and
131			/// b2 is in identity.
132			COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1,
133			const OBB& b2);
134
135			/// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and
136			/// b2 is in identity.
137			COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1,
138			const OBB& b2, const CollisionRequest& request,
139			Scalar& sqrDistLowerBound);
140
141			/// Check collision between two boxes
142			/// @param B, T orientation and position of first box,
143			/// @param a half dimensions of first box,
144			/// @param b half dimensions of second box.
145			/// The second box is in identity configuration.
146			COAL_DLLAPI bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a,
147			const Vec3s& b);
148			} // namespace coal
149
150			#endif
151