coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
coal::RSS Struct Reference

A class for rectangle sphere-swept bounding volume. More...

#include <coal/BV/RSS.h>

Public Member Functions

 RSS ()
   More...
 
bool operator== (const RSS &other) const
 Equality operator. More...
 
bool operator!= (const RSS &other) const
 Difference operator. More...
 
bool contain (const Vec3s &p) const
 Check whether the RSS contains a point. More...
 
bool overlap (const RSS &other) const
 Check collision between two RSS. More...
 
bool overlap (const RSS &other, const CollisionRequest &, Scalar &sqrDistLowerBound) const
 Not implemented. More...
 
Scalar distance (const RSS &other, Vec3s *P=NULL, Vec3s *Q=NULL) const
 the distance between two RSS; P and Q, if not NULL, return the nearest points More...
 
RSSoperator+= (const Vec3s &p)
 A simple way to merge the RSS and a point, not compact. More...
 
RSSoperator+= (const RSS &other)
 Merge the RSS and another RSS. More...
 
RSS operator+ (const RSS &other) const
 Return the merged RSS of current RSS and the other one. More...
 
Scalar size () const
 Size of the RSS (used in BV_Splitter to order two RSSs) More...
 
const Vec3scenter () const
 The RSS center. More...
 
Scalar width () const
 Width of the RSS. More...
 
Scalar height () const
 Height of the RSS. More...
 
Scalar depth () const
 Depth of the RSS. More...
 
Scalar volume () const
 Volume of the RSS. More...
 
bool overlap (const RSS &other, RSS &) const
 Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS. More...
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s axes
 Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. More...
 
Vec3s Tr
 Origin of the rectangle in RSS. More...
 
Scalar length [2]
 Side lengths of rectangle. More...
 
Scalar radius
 Radius of sphere summed with rectangle to form RSS. More...
 

Detailed Description

A class for rectangle sphere-swept bounding volume.


The documentation for this struct was generated from the following file: