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
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
36			/** \author Jia Pan */
37
38			#ifndef COAL_OBBRSS_H
39			#define COAL_OBBRSS_H
40
41			#include "coal/BV/OBB.h"
42			#include "coal/BV/RSS.h"
43
44			namespace coal {
45
46			struct CollisionRequest;
47
48			/// @addtogroup Bounding_Volume
49			/// @{
50
51			/// @brief Class merging the OBB and RSS, can handle collision and distance
52			/// simultaneously
53			struct COAL_DLLAPI OBBRSS {
54			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
55
56			/// @brief OBB member, for rotation
57			OBB obb;
58
59			/// @brief RSS member, for distance
60			RSS rss;
61
62			/// @brief Equality operator
63		812109	bool operator==(const OBBRSS& other) const {
64	2/4 ✓ Branch 1 taken 812109 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 812109 times. ✗ Branch 5 not taken.	812109	return obb == other.obb && rss == other.rss;
65			}
66
67			/// @brief Difference operator
68			bool operator!=(const OBBRSS& other) const { return !(*this == other); }
69
70			/// @brief Check whether the OBBRSS contains a point
71			inline bool contain(const Vec3s& p) const { return obb.contain(p); }
72
73			/// @brief Check collision between two OBBRSS
74			bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }
75
76			/// Check collision between two OBBRSS
77			/// @retval sqrDistLowerBound squared lower bound on distance between
78			/// objects if they do not overlap.
79		1330	bool overlap(const OBBRSS& other, const CollisionRequest& request,
80			Scalar& sqrDistLowerBound) const {
81		1330	return obb.overlap(other.obb, request, sqrDistLowerBound);
82			}
83
84			/// @brief Distance between two OBBRSS; P and Q , is not NULL, returns the
85			/// nearest points
86		514	Scalar distance(const OBBRSS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const {
87		514	return rss.distance(other.rss, P, Q);
88			}
89
90			/// @brief Merge the OBBRSS and a point
91			OBBRSS& operator+=(const Vec3s& p) {
92			obb += p;
93			rss += p;
94			return *this;
95			}
96
97			/// @brief Merge two OBBRSS
98			OBBRSS& operator+=(const OBBRSS& other) {
99			this = this + other;
100			return *this;
101			}
102
103			/// @brief Merge two OBBRSS
104		6537	OBBRSS operator+(const OBBRSS& other) const {
105		6537	OBBRSS result;
106		6537	result.obb = obb + other.obb;
107		6537	result.rss = rss + other.rss;
108		6537	return result;
109			}
110
111			/// @brief Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
112		1654204	inline Scalar size() const { return obb.size(); }
113
114			/// @brief Center of the OBBRSS
115		42248	inline const Vec3s& center() const { return obb.center(); }
116
117			/// @brief Width of the OBRSS
118		✗	inline Scalar width() const { return obb.width(); }
119
120			/// @brief Height of the OBBRSS
121		✗	inline Scalar height() const { return obb.height(); }
122
123			/// @brief Depth of the OBBRSS
124		✗	inline Scalar depth() const { return obb.depth(); }
125
126			/// @brief Volume of the OBBRSS
127			inline Scalar volume() const { return obb.volume(); }
128			};
129
130			/// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0)
131			/// and b2 is in indentity
132			inline bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,
133			const OBBRSS& b2) {
134			return overlap(R0, T0, b1.obb, b2.obb);
135			}
136
137			/// Check collision between two OBBRSS
138			/// @param R0, T0 configuration of b1
139			/// @param b1 first OBBRSS in configuration (R0, T0)
140			/// @param b2 second OBBRSS in identity position
141			/// @retval sqrDistLowerBound squared lower bound on the distance if OBBRSS do
142			/// not overlap.
143		63209	inline bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,
144			const OBBRSS& b2, const CollisionRequest& request,
145			Scalar& sqrDistLowerBound) {
146		63209	return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
147			}
148
149			/// @brief Computate distance between two OBBRSS, b1 is in configuation (R0, T0)
150			/// and b2 is in indentity; P and Q, is not NULL, returns the nearest points
151		1598026	inline Scalar distance(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,
152			const OBBRSS& b2, Vec3s* P = NULL, Vec3s* Q = NULL) {
153		1598026	return distance(R0, T0, b1.rss, b2.rss, P, Q);
154			}
155
156			} // namespace coal
157
158			#endif
159