| Directory: | ./ |
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| File: | include/coal/internal/shape_shape_func.h |
| Date: | 2025-04-01 09:23:31 |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2014, CNRS-LAAS | ||
| 5 | * Copyright (c) 2024, INRIA | ||
| 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 Willow Garage, Inc. 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 Florent Lamiraux */ | ||
| 37 | |||
| 38 | #ifndef COAL_INTERNAL_SHAPE_SHAPE_FUNC_H | ||
| 39 | #define COAL_INTERNAL_SHAPE_SHAPE_FUNC_H | ||
| 40 | |||
| 41 | /// @cond INTERNAL | ||
| 42 | |||
| 43 | #include "coal/collision_data.h" | ||
| 44 | #include "coal/collision_utility.h" | ||
| 45 | #include "coal/narrowphase/narrowphase.h" | ||
| 46 | #include "coal/shape/geometric_shapes_traits.h" | ||
| 47 | |||
| 48 | #include "coal/tracy.hh" | ||
| 49 | |||
| 50 | namespace coal { | ||
| 51 | |||
| 52 | template <typename ShapeType1, typename ShapeType2> | ||
| 53 | struct ShapeShapeDistancer { | ||
| 54 | 29378 | static Scalar run(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 55 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 56 | const GJKSolver* nsolver, const DistanceRequest& request, | ||
| 57 | DistanceResult& result) { | ||
| 58 |
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29378 | if (request.isSatisfied(result)) return result.min_distance; |
| 59 | |||
| 60 | // Witness points on shape1 and shape2, normal pointing from shape1 to | ||
| 61 | // shape2. | ||
| 62 |
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29378 | Vec3s p1, p2, normal; |
| 63 | 58756 | const Scalar distance = ShapeShapeDistancer<ShapeType1, ShapeType2>::run( | |
| 64 |
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29378 | o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, p1, p2, |
| 65 | normal); | ||
| 66 | |||
| 67 |
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29378 | result.update(distance, o1, o2, DistanceResult::NONE, DistanceResult::NONE, |
| 68 | p1, p2, normal); | ||
| 69 | |||
| 70 | 29378 | return distance; | |
| 71 | } | ||
| 72 | |||
| 73 | 1581934 | static Scalar run(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 74 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 75 | const GJKSolver* nsolver, | ||
| 76 | const bool compute_signed_distance, Vec3s& p1, Vec3s& p2, | ||
| 77 | Vec3s& normal) { | ||
| 78 | 1581934 | const ShapeType1* obj1 = static_cast<const ShapeType1*>(o1); | |
| 79 | 1581934 | const ShapeType2* obj2 = static_cast<const ShapeType2*>(o2); | |
| 80 | 1581934 | return nsolver->shapeDistance(*obj1, tf1, *obj2, tf2, | |
| 81 | 1581934 | compute_signed_distance, p1, p2, normal); | |
| 82 | } | ||
| 83 | }; | ||
| 84 | |||
| 85 | /// @brief Shape-shape distance computation. | ||
| 86 | /// Assumes that `nsolver` has already been set up by a `DistanceRequest` or | ||
| 87 | /// a `CollisionRequest`. | ||
| 88 | /// | ||
| 89 | /// @note This function is typically used for collision pairs containing two | ||
| 90 | /// primitive shapes. | ||
| 91 | /// @note This function might be specialized for some pairs of shapes. | ||
| 92 | template <typename ShapeType1, typename ShapeType2> | ||
| 93 | 29378 | Scalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 94 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 95 | const GJKSolver* nsolver, | ||
| 96 | const DistanceRequest& request, | ||
| 97 | DistanceResult& result) { | ||
| 98 | COAL_TRACY_ZONE_SCOPED_N("coal::ShapeShapeDistance"); | ||
| 99 | 29378 | return ShapeShapeDistancer<ShapeType1, ShapeType2>::run( | |
| 100 | 29378 | o1, tf1, o2, tf2, nsolver, request, result); | |
| 101 | } | ||
| 102 | |||
| 103 | namespace internal { | ||
| 104 | /// @brief Shape-shape distance computation. | ||
| 105 | /// Assumes that `nsolver` has already been set up by a `DistanceRequest` or | ||
| 106 | /// a `CollisionRequest`. | ||
| 107 | /// | ||
| 108 | /// @note This function is typically used for collision pairs complex structures | ||
| 109 | /// like BVHs, HeightFields or Octrees. These structures contain sets of | ||
| 110 | /// primitive shapes. | ||
| 111 | /// This function is meant to be called on the pairs of primitive shapes of | ||
| 112 | /// these structures. | ||
| 113 | /// @note This function might be specialized for some pairs of shapes. | ||
| 114 | template <typename ShapeType1, typename ShapeType2> | ||
| 115 | 1552076 | Scalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 116 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 117 | const GJKSolver* nsolver, | ||
| 118 | const bool compute_signed_distance, Vec3s& p1, | ||
| 119 | Vec3s& p2, Vec3s& normal) { | ||
| 120 | 1552076 | return ::coal::ShapeShapeDistancer<ShapeType1, ShapeType2>::run( | |
| 121 | 1552076 | o1, tf1, o2, tf2, nsolver, compute_signed_distance, p1, p2, normal); | |
| 122 | } | ||
| 123 | } // namespace internal | ||
| 124 | |||
| 125 | /// @brief Shape-shape collision detection. | ||
| 126 | /// Assumes that `nsolver` has already been set up by a `DistanceRequest` or | ||
| 127 | /// a `CollisionRequest`. | ||
| 128 | /// | ||
| 129 | /// @note This function is typically used for collision pairs containing two | ||
| 130 | /// primitive shapes. | ||
| 131 | /// Complex structures like BVHs, HeightFields or Octrees contain sets of | ||
| 132 | /// primitive shapes should use the `ShapeShapeDistance` function to do their | ||
| 133 | /// internal collision detection checks. | ||
| 134 | template <typename ShapeType1, typename ShapeType2> | ||
| 135 | struct ShapeShapeCollider { | ||
| 136 | 2478986 | static std::size_t run(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 137 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 138 | const GJKSolver* nsolver, | ||
| 139 | const CollisionRequest& request, | ||
| 140 | CollisionResult& result) { | ||
| 141 |
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2478986 | if (request.isSatisfied(result)) return result.numContacts(); |
| 142 | |||
| 143 | 2478986 | const bool compute_penetration = | |
| 144 |
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2478986 | request.enable_contact || (request.security_margin < 0); |
| 145 |
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2478986 | Vec3s p1, p2, normal; |
| 146 |
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2478986 | Scalar distance = internal::ShapeShapeDistance<ShapeType1, ShapeType2>( |
| 147 | o1, tf1, o2, tf2, nsolver, compute_penetration, p1, p2, normal); | ||
| 148 | |||
| 149 | 2478986 | size_t num_contacts = 0; | |
| 150 | 2478986 | const Scalar distToCollision = distance - request.security_margin; | |
| 151 | |||
| 152 |
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2478986 | internal::updateDistanceLowerBoundFromLeaf(request, result, distToCollision, |
| 153 | p1, p2, normal); | ||
| 154 |
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2505382 | if (distToCollision <= request.collision_distance_threshold && |
| 155 |
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26396 | result.numContacts() < request.num_max_contacts) { |
| 156 |
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26396 | if (result.numContacts() < request.num_max_contacts) { |
| 157 |
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26396 | Contact contact(o1, o2, Contact::NONE, Contact::NONE, p1, p2, normal, |
| 158 | distance); | ||
| 159 |
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26396 | result.addContact(contact); |
| 160 | } | ||
| 161 | 26396 | num_contacts = result.numContacts(); | |
| 162 | } | ||
| 163 | |||
| 164 | 2478986 | return num_contacts; | |
| 165 | } | ||
| 166 | }; | ||
| 167 | |||
| 168 | template <typename ShapeType1, typename ShapeType2> | ||
| 169 | 1239493 | std::size_t ShapeShapeCollide(const CollisionGeometry* o1, | |
| 170 | const Transform3s& tf1, | ||
| 171 | const CollisionGeometry* o2, | ||
| 172 | const Transform3s& tf2, const GJKSolver* nsolver, | ||
| 173 | const CollisionRequest& request, | ||
| 174 | CollisionResult& result) { | ||
| 175 | COAL_TRACY_ZONE_SCOPED_N("coal::ShapeShapeCollide"); | ||
| 176 | 1239493 | return ShapeShapeCollider<ShapeType1, ShapeType2>::run( | |
| 177 | 1239493 | o1, tf1, o2, tf2, nsolver, request, result); | |
| 178 | } | ||
| 179 | |||
| 180 | // clang-format off | ||
| 181 | // ============================================================================================================== | ||
| 182 | // ============================================================================================================== | ||
| 183 | // ============================================================================================================== | ||
| 184 | // Shape distance algorithms based on: | ||
| 185 | // - built-in function: 0 | ||
| 186 | // - GJK: 1 | ||
| 187 | // | ||
| 188 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 189 | // | | box | sphere | capsule | cone | cylinder | plane | half-space | triangle | ellipsoid | convex | | ||
| 190 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 191 | // | box | 1 | 0 | 1 | 1 | 1 | 0 | 0 | 1 | 1 | 1 | | ||
| 192 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 193 | // | sphere |/////| 0 | 0 | 1 | 0 | 0 | 0 | 0 | 1 | 1 | | ||
| 194 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 195 | // | capsule |/////|////////| 0 | 1 | 1 | 0 | 0 | 1 | 1 | 1 | | ||
| 196 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 197 | // | cone |/////|////////|/////////| 1 | 1 | 0 | 0 | 1 | 1 | 1 | | ||
| 198 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 199 | // | cylinder |/////|////////|/////////|//////| 1 | 0 | 0 | 1 | 1 | 1 | | ||
| 200 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 201 | // | plane |/////|////////|/////////|//////|//////////| ? | ? | 0 | 0 | 0 | | ||
| 202 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 203 | // | half-space |/////|////////|/////////|//////|//////////|///////| ? | 0 | 0 | 0 | | ||
| 204 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 205 | // | triangle |/////|////////|/////////|//////|//////////|///////|////////////| 0 | 1 | 1 | | ||
| 206 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 207 | // | ellipsoid |/////|////////|/////////|//////|//////////|///////|////////////|//////////| 1 | 1 | | ||
| 208 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 209 | // | convex |/////|////////|/////////|//////|//////////|///////|////////////|//////////|///////////| 1 | | ||
| 210 | // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+ | ||
| 211 | // | ||
| 212 | // Number of pairs: 55 | ||
| 213 | // - Specialized: 26 | ||
| 214 | // - GJK: 29 | ||
| 215 | // clang-format on | ||
| 216 | |||
| 217 | #define SHAPE_SHAPE_DISTANCE_SPECIALIZATION(T1, T2) \ | ||
| 218 | template <> \ | ||
| 219 | COAL_DLLAPI Scalar internal::ShapeShapeDistance<T1, T2>( \ | ||
| 220 | const CollisionGeometry* o1, const Transform3s& tf1, \ | ||
| 221 | const CollisionGeometry* o2, const Transform3s& tf2, \ | ||
| 222 | const GJKSolver* nsolver, const bool compute_signed_distance, Vec3s& p1, \ | ||
| 223 | Vec3s& p2, Vec3s& normal); \ | ||
| 224 | template <> \ | ||
| 225 | COAL_DLLAPI Scalar internal::ShapeShapeDistance<T2, T1>( \ | ||
| 226 | const CollisionGeometry* o1, const Transform3s& tf1, \ | ||
| 227 | const CollisionGeometry* o2, const Transform3s& tf2, \ | ||
| 228 | const GJKSolver* nsolver, const bool compute_signed_distance, Vec3s& p1, \ | ||
| 229 | Vec3s& p2, Vec3s& normal); \ | ||
| 230 | template <> \ | ||
| 231 | inline COAL_DLLAPI Scalar ShapeShapeDistance<T1, T2>( \ | ||
| 232 | const CollisionGeometry* o1, const Transform3s& tf1, \ | ||
| 233 | const CollisionGeometry* o2, const Transform3s& tf2, \ | ||
| 234 | const GJKSolver* nsolver, const DistanceRequest& request, \ | ||
| 235 | DistanceResult& result) { \ | ||
| 236 | result.o1 = o1; \ | ||
| 237 | result.o2 = o2; \ | ||
| 238 | result.b1 = DistanceResult::NONE; \ | ||
| 239 | result.b2 = DistanceResult::NONE; \ | ||
| 240 | result.min_distance = internal::ShapeShapeDistance<T1, T2>( \ | ||
| 241 | o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, \ | ||
| 242 | result.nearest_points[0], result.nearest_points[1], result.normal); \ | ||
| 243 | return result.min_distance; \ | ||
| 244 | } \ | ||
| 245 | template <> \ | ||
| 246 | inline COAL_DLLAPI Scalar ShapeShapeDistance<T2, T1>( \ | ||
| 247 | const CollisionGeometry* o1, const Transform3s& tf1, \ | ||
| 248 | const CollisionGeometry* o2, const Transform3s& tf2, \ | ||
| 249 | const GJKSolver* nsolver, const DistanceRequest& request, \ | ||
| 250 | DistanceResult& result) { \ | ||
| 251 | result.o1 = o1; \ | ||
| 252 | result.o2 = o2; \ | ||
| 253 | result.b1 = DistanceResult::NONE; \ | ||
| 254 | result.b2 = DistanceResult::NONE; \ | ||
| 255 | result.min_distance = internal::ShapeShapeDistance<T2, T1>( \ | ||
| 256 | o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, \ | ||
| 257 | result.nearest_points[0], result.nearest_points[1], result.normal); \ | ||
| 258 | return result.min_distance; \ | ||
| 259 | } | ||
| 260 | |||
| 261 | #define SHAPE_SELF_DISTANCE_SPECIALIZATION(T) \ | ||
| 262 | template <> \ | ||
| 263 | COAL_DLLAPI Scalar internal::ShapeShapeDistance<T, T>( \ | ||
| 264 | const CollisionGeometry* o1, const Transform3s& tf1, \ | ||
| 265 | const CollisionGeometry* o2, const Transform3s& tf2, \ | ||
| 266 | const GJKSolver* nsolver, const bool compute_signed_distance, Vec3s& p1, \ | ||
| 267 | Vec3s& p2, Vec3s& normal); \ | ||
| 268 | template <> \ | ||
| 269 | inline COAL_DLLAPI Scalar ShapeShapeDistance<T, T>( \ | ||
| 270 | const CollisionGeometry* o1, const Transform3s& tf1, \ | ||
| 271 | const CollisionGeometry* o2, const Transform3s& tf2, \ | ||
| 272 | const GJKSolver* nsolver, const DistanceRequest& request, \ | ||
| 273 | DistanceResult& result) { \ | ||
| 274 | result.o1 = o1; \ | ||
| 275 | result.o2 = o2; \ | ||
| 276 | result.b1 = DistanceResult::NONE; \ | ||
| 277 | result.b2 = DistanceResult::NONE; \ | ||
| 278 | result.min_distance = internal::ShapeShapeDistance<T, T>( \ | ||
| 279 | o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, \ | ||
| 280 | result.nearest_points[0], result.nearest_points[1], result.normal); \ | ||
| 281 | return result.min_distance; \ | ||
| 282 | } | ||
| 283 | |||
| 284 | 800 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Halfspace) | |
| 285 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Plane) | |
| 286 | 13628 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Sphere) | |
| 287 | 405 | SHAPE_SELF_DISTANCE_SPECIALIZATION(Capsule) | |
| 288 | 800 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Halfspace) | |
| 289 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Plane) | |
| 290 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Halfspace) | |
| 291 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Plane) | |
| 292 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Halfspace) | |
| 293 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Plane) | |
| 294 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Halfspace) | |
| 295 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Plane) | |
| 296 | 1661 | SHAPE_SELF_DISTANCE_SPECIALIZATION(Sphere) | |
| 297 | 5776 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Cylinder) | |
| 298 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Capsule) | |
| 299 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Halfspace) | |
| 300 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Plane) | |
| 301 | 400 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace) | |
| 302 | ✗ | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Plane) | |
| 303 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace) | ||
| 304 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Plane) | ||
| 305 | 25664 | SHAPE_SELF_DISTANCE_SPECIALIZATION(TriangleP) | |
| 306 | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Sphere) | ||
| 307 | ✗ | SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Plane, Halfspace) | |
| 308 | ✗ | SHAPE_SELF_DISTANCE_SPECIALIZATION(Plane) | |
| 309 | ✗ | SHAPE_SELF_DISTANCE_SPECIALIZATION(Halfspace) | |
| 310 | |||
| 311 | #undef SHAPE_SHAPE_DISTANCE_SPECIALIZATION | ||
| 312 | #undef SHAPE_SELF_DISTANCE_SPECIALIZATION | ||
| 313 | |||
| 314 | } // namespace coal | ||
| 315 | |||
| 316 | /// @endcond | ||
| 317 | |||
| 318 | #endif | ||
| 319 |