hpp-fcl  3.0.0
HPP fork of FCL -- The Flexible Collision Library
geometric_shapes_utility.h
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35 
38 #ifndef HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
39 #define HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
40 
41 #include <vector>
42 #include <hpp/fcl/shape/geometric_shapes.h>
43 #include <hpp/fcl/BV/BV.h>
44 #include <hpp/fcl/internal/BV_fitter.h>
45 
46 namespace hpp {
47 namespace fcl {
48 
50 namespace details {
53 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Box& box,
54  const Transform3f& tf);
55 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Sphere& sphere,
56  const Transform3f& tf);
57 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Ellipsoid& ellipsoid,
58  const Transform3f& tf);
59 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Capsule& capsule,
60  const Transform3f& tf);
61 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cone& cone,
62  const Transform3f& tf);
63 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder,
64  const Transform3f& tf);
65 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const ConvexBase& convex,
66  const Transform3f& tf);
67 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const TriangleP& triangle,
68  const Transform3f& tf);
69 } // namespace details
71 
73 template <typename BV, typename S>
74 inline void computeBV(const S& s, const Transform3f& tf, BV& bv) {
75  if (s.getSweptSphereRadius() > 0) {
76  HPP_FCL_THROW_PRETTY("Swept-sphere radius not yet supported.",
77  std::runtime_error);
78  }
79  std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
80  fit(&convex_bound_vertices[0], (unsigned int)convex_bound_vertices.size(),
81  bv);
82 }
83 
84 template <>
85 HPP_FCL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3f& tf,
86  AABB& bv);
87 
88 template <>
89 HPP_FCL_DLLAPI void computeBV<AABB, Sphere>(const Sphere& s,
90  const Transform3f& tf, AABB& bv);
91 
92 template <>
93 HPP_FCL_DLLAPI void computeBV<AABB, Ellipsoid>(const Ellipsoid& e,
94  const Transform3f& tf, AABB& bv);
95 
96 template <>
97 HPP_FCL_DLLAPI void computeBV<AABB, Capsule>(const Capsule& s,
98  const Transform3f& tf, AABB& bv);
99 
100 template <>
101 HPP_FCL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf,
102  AABB& bv);
103 
104 template <>
105 HPP_FCL_DLLAPI void computeBV<AABB, Cylinder>(const Cylinder& s,
106  const Transform3f& tf, AABB& bv);
107 
108 template <>
109 HPP_FCL_DLLAPI void computeBV<AABB, ConvexBase>(const ConvexBase& s,
110  const Transform3f& tf,
111  AABB& bv);
112 
113 template <>
114 HPP_FCL_DLLAPI void computeBV<AABB, TriangleP>(const TriangleP& s,
115  const Transform3f& tf, AABB& bv);
116 
117 template <>
118 HPP_FCL_DLLAPI void computeBV<AABB, Halfspace>(const Halfspace& s,
119  const Transform3f& tf, AABB& bv);
120 
121 template <>
122 HPP_FCL_DLLAPI void computeBV<AABB, Plane>(const Plane& s,
123  const Transform3f& tf, AABB& bv);
124 
125 template <>
126 HPP_FCL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3f& tf,
127  OBB& bv);
128 
129 template <>
130 HPP_FCL_DLLAPI void computeBV<OBB, Sphere>(const Sphere& s,
131  const Transform3f& tf, OBB& bv);
132 
133 template <>
134 HPP_FCL_DLLAPI void computeBV<OBB, Capsule>(const Capsule& s,
135  const Transform3f& tf, OBB& bv);
136 
137 template <>
138 HPP_FCL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf,
139  OBB& bv);
140 
141 template <>
142 HPP_FCL_DLLAPI void computeBV<OBB, Cylinder>(const Cylinder& s,
143  const Transform3f& tf, OBB& bv);
144 
145 template <>
146 HPP_FCL_DLLAPI void computeBV<OBB, ConvexBase>(const ConvexBase& s,
147  const Transform3f& tf, OBB& bv);
148 
149 template <>
150 HPP_FCL_DLLAPI void computeBV<OBB, Halfspace>(const Halfspace& s,
151  const Transform3f& tf, OBB& bv);
152 
153 template <>
154 HPP_FCL_DLLAPI void computeBV<RSS, Halfspace>(const Halfspace& s,
155  const Transform3f& tf, RSS& bv);
156 
157 template <>
158 HPP_FCL_DLLAPI void computeBV<OBBRSS, Halfspace>(const Halfspace& s,
159  const Transform3f& tf,
160  OBBRSS& bv);
161 
162 template <>
163 HPP_FCL_DLLAPI void computeBV<kIOS, Halfspace>(const Halfspace& s,
164  const Transform3f& tf, kIOS& bv);
165 
166 template <>
167 HPP_FCL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s,
168  const Transform3f& tf,
169  KDOP<16>& bv);
170 
171 template <>
172 HPP_FCL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s,
173  const Transform3f& tf,
174  KDOP<18>& bv);
175 
176 template <>
177 HPP_FCL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s,
178  const Transform3f& tf,
179  KDOP<24>& bv);
180 
181 template <>
182 HPP_FCL_DLLAPI void computeBV<OBB, Plane>(const Plane& s, const Transform3f& tf,
183  OBB& bv);
184 
185 template <>
186 HPP_FCL_DLLAPI void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf,
187  RSS& bv);
188 
189 template <>
190 HPP_FCL_DLLAPI void computeBV<OBBRSS, Plane>(const Plane& s,
191  const Transform3f& tf, OBBRSS& bv);
192 
193 template <>
194 HPP_FCL_DLLAPI void computeBV<kIOS, Plane>(const Plane& s,
195  const Transform3f& tf, kIOS& bv);
196 
197 template <>
198 HPP_FCL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s,
199  const Transform3f& tf,
200  KDOP<16>& bv);
201 
202 template <>
203 HPP_FCL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s,
204  const Transform3f& tf,
205  KDOP<18>& bv);
206 
207 template <>
208 HPP_FCL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s,
209  const Transform3f& tf,
210  KDOP<24>& bv);
211 
214 HPP_FCL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3f& tf);
215 
216 HPP_FCL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3f& tf);
217 
218 HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf);
219 
220 HPP_FCL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3f& tf);
221 
222 HPP_FCL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3f& tf);
223 
224 HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, Box& box, Transform3f& tf);
225 
226 HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, Box& box, Transform3f& tf);
227 
228 HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, Box& box, Transform3f& tf);
229 
230 HPP_FCL_DLLAPI void constructBox(const AABB& bv, const Transform3f& tf_bv,
231  Box& box, Transform3f& tf);
232 
233 HPP_FCL_DLLAPI void constructBox(const OBB& bv, const Transform3f& tf_bv,
234  Box& box, Transform3f& tf);
235 
236 HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3f& tf_bv,
237  Box& box, Transform3f& tf);
238 
239 HPP_FCL_DLLAPI void constructBox(const kIOS& bv, const Transform3f& tf_bv,
240  Box& box, Transform3f& tf);
241 
242 HPP_FCL_DLLAPI void constructBox(const RSS& bv, const Transform3f& tf_bv,
243  Box& box, Transform3f& tf);
244 
245 HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv,
246  Box& box, Transform3f& tf);
247 
248 HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv,
249  Box& box, Transform3f& tf);
250 
251 HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv,
252  Box& box, Transform3f& tf);
253 
254 HPP_FCL_DLLAPI Halfspace transform(const Halfspace& a, const Transform3f& tf);
255 
256 HPP_FCL_DLLAPI Plane transform(const Plane& a, const Transform3f& tf);
257 
258 HPP_FCL_DLLAPI std::array<Halfspace, 2> transformToHalfspaces(
259  const Plane& a, const Transform3f& tf);
260 
261 } // namespace fcl
262 
263 } // namespace hpp
264 
265 #endif
BV_fitter.h
hpp::fcl::AABB
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:56
hpp::fcl::Box
Center at zero point, axis aligned box.
Definition: geometric_shapes.h:164
hpp::fcl::Capsule
Capsule It is where is the distance between the point x and the capsule segment AB,...
Definition: geometric_shapes.h:381
hpp::fcl::Cone
Cone The base of the cone is at and the top is at .
Definition: geometric_shapes.h:465
hpp::fcl::ConvexBase
Base for convex polytope.
Definition: geometric_shapes.h:638
hpp::fcl::Cylinder
Cylinder along Z axis. The cylinder is defined at its centroid.
Definition: geometric_shapes.h:555
hpp::fcl::Ellipsoid
Ellipsoid centered at point zero.
Definition: geometric_shapes.h:303
hpp::fcl::Halfspace
Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the dir...
Definition: geometric_shapes.h:885
hpp::fcl::KDOP
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:92
hpp::fcl::Plane
Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction....
Definition: geometric_shapes.h:976
hpp::fcl::Sphere
Center at zero point sphere.
Definition: geometric_shapes.h:238
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:56
hpp::fcl::TriangleP
Triangle stores the points instead of only indices of points.
Definition: geometric_shapes.h:109
hpp::fcl::kIOS
A class describing the kIOS collision structure, which is a set of spheres.
Definition: kIOS.h:53
HPP_FCL_DLLAPI
#define HPP_FCL_DLLAPI
Definition: config.hh:88
HPP_FCL_THROW_PRETTY
#define HPP_FCL_THROW_PRETTY(message, exception)
Definition: fwd.hh:64
hpp::fcl::computeBV< OBBRSS, Halfspace >
void computeBV< OBBRSS, Halfspace >(const Halfspace &s, const Transform3f &tf, OBBRSS &bv)
hpp::fcl::computeBV
void computeBV(const S &s, const Transform3f &tf, BV &bv)
calculate a bounding volume for a shape in a specific configuration
Definition: geometric_shapes_utility.h:74
hpp::fcl::constructBox
void constructBox(const AABB &bv, Box &box, Transform3f &tf)
construct a box shape (with a configuration) from a given bounding volume
hpp::fcl::computeBV< OBB, Plane >
void computeBV< OBB, Plane >(const Plane &s, const Transform3f &tf, OBB &bv)
hpp::fcl::computeBV< AABB, ConvexBase >
void computeBV< AABB, ConvexBase >(const ConvexBase &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< OBB, Capsule >
void computeBV< OBB, Capsule >(const Capsule &s, const Transform3f &tf, OBB &bv)
hpp::fcl::computeBV< OBB, Box >
void computeBV< OBB, Box >(const Box &s, const Transform3f &tf, OBB &bv)
hpp::fcl::computeBV< AABB, TriangleP >
void computeBV< AABB, TriangleP >(const TriangleP &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< RSS, Halfspace >
void computeBV< RSS, Halfspace >(const Halfspace &s, const Transform3f &tf, RSS &bv)
hpp::fcl::computeBV< AABB, Cylinder >
void computeBV< AABB, Cylinder >(const Cylinder &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< AABB, Box >
void computeBV< AABB, Box >(const Box &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< OBBRSS, Plane >
void computeBV< OBBRSS, Plane >(const Plane &s, const Transform3f &tf, OBBRSS &bv)
hpp::fcl::computeBV< OBB, ConvexBase >
void computeBV< OBB, ConvexBase >(const ConvexBase &s, const Transform3f &tf, OBB &bv)
hpp::fcl::computeBV< RSS, Plane >
void computeBV< RSS, Plane >(const Plane &s, const Transform3f &tf, RSS &bv)
hpp::fcl::fit
void fit(Vec3f *ps, unsigned int n, BV &bv)
Compute a bounding volume that fits a set of n points.
Definition: BV_fitter.h:52
hpp::fcl::computeBV< AABB, Plane >
void computeBV< AABB, Plane >(const Plane &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< AABB, Ellipsoid >
void computeBV< AABB, Ellipsoid >(const Ellipsoid &e, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< OBB, Cone >
void computeBV< OBB, Cone >(const Cone &s, const Transform3f &tf, OBB &bv)
hpp::fcl::transformToHalfspaces
std::array< Halfspace, 2 > transformToHalfspaces(const Plane &a, const Transform3f &tf)
hpp::fcl::computeBV< OBB, Halfspace >
void computeBV< OBB, Halfspace >(const Halfspace &s, const Transform3f &tf, OBB &bv)
hpp::fcl::computeBV< AABB, Cone >
void computeBV< AABB, Cone >(const Cone &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< AABB, Sphere >
void computeBV< AABB, Sphere >(const Sphere &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< kIOS, Plane >
void computeBV< kIOS, Plane >(const Plane &s, const Transform3f &tf, kIOS &bv)
hpp::fcl::computeBV< OBB, Sphere >
void computeBV< OBB, Sphere >(const Sphere &s, const Transform3f &tf, OBB &bv)
hpp::fcl::transform
Halfspace transform(const Halfspace &a, const Transform3f &tf)
hpp::fcl::computeBV< kIOS, Halfspace >
void computeBV< kIOS, Halfspace >(const Halfspace &s, const Transform3f &tf, kIOS &bv)
hpp::fcl::computeBV< OBB, Cylinder >
void computeBV< OBB, Cylinder >(const Cylinder &s, const Transform3f &tf, OBB &bv)
hpp::fcl::computeBV< AABB, Capsule >
void computeBV< AABB, Capsule >(const Capsule &s, const Transform3f &tf, AABB &bv)
hpp::fcl::computeBV< AABB, Halfspace >
void computeBV< AABB, Halfspace >(const Halfspace &s, const Transform3f &tf, AABB &bv)
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
geometric_shapes.h
hpp::fcl::OBBRSS
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:54
hpp::fcl::OBB
Oriented bounding box class.
Definition: OBB.h:52
hpp::fcl::RSS
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:54