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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/hpp/fcl/BV/OBBRSS.h	Lines:	17	20	85.0 %
Date:	2024-02-09 12:57:42	Branches:	2	4	50.0 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

#ifndef HPP_FCL_OBBRSS_H
#define HPP_FCL_OBBRSS_H

#include <hpp/fcl/BV/OBB.h>
#include <hpp/fcl/BV/RSS.h>

namespace hpp {
namespace fcl {

struct CollisionRequest;

/// @addtogroup Bounding_Volume
/// @{

/// @brief Class merging the OBB and RSS, can handle collision and distance
/// simultaneously
struct HPP_FCL_DLLAPI OBBRSS {
  /// @brief OBB member, for rotation
  OBB obb;

  /// @brief RSS member, for distance
  RSS rss;

  /// @brief Equality operator
  bool operator==(const OBBRSS& other) const {
    return obb == other.obb && rss == other.rss;
  }

  /// @brief Difference operator
  bool operator!=(const OBBRSS& other) const { return !(*this == other); }

  /// @brief Check whether the OBBRSS contains a point
  inline bool contain(const Vec3f& p) const { return obb.contain(p); }

  /// @brief Check collision between two OBBRSS
  bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }

  /// Check collision between two OBBRSS
  /// @retval sqrDistLowerBound squared lower bound on distance between
  ///         objects if they do not overlap.
  bool overlap(const OBBRSS& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const {
    return obb.overlap(other.obb, request, sqrDistLowerBound);
  }

  /// @brief Distance between two OBBRSS; P and Q , is not NULL, returns the
  /// nearest points
  FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL,
                    Vec3f* Q = NULL) const {
    return rss.distance(other.rss, P, Q);
  }

  /// @brief Merge the OBBRSS and a point
  OBBRSS& operator+=(const Vec3f& p) {
    obb += p;
    rss += p;
    return *this;
  }

  /// @brief Merge two OBBRSS
  OBBRSS& operator+=(const OBBRSS& other) {
    *this = *this + other;
    return *this;
  }

  /// @brief Merge two OBBRSS
  OBBRSS operator+(const OBBRSS& other) const {
    OBBRSS result;
    result.obb = obb + other.obb;
    result.rss = rss + other.rss;
    return result;
  }

  /// @brief Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
  inline FCL_REAL size() const { return obb.size(); }

  /// @brief Center of the OBBRSS
  inline const Vec3f& center() const { return obb.center(); }

  /// @brief Width of the OBRSS
  inline FCL_REAL width() const { return obb.width(); }

  /// @brief Height of the OBBRSS
  inline FCL_REAL height() const { return obb.height(); }

  /// @brief Depth of the OBBRSS
  inline FCL_REAL depth() const { return obb.depth(); }

  /// @brief Volume of the OBBRSS
  inline FCL_REAL volume() const { return obb.volume(); }
};

/// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0)
/// and b2 is in indentity
inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                    const OBBRSS& b2) {
  return overlap(R0, T0, b1.obb, b2.obb);
}

/// Check collision between two OBBRSS
/// @param  R0, T0 configuration of b1
/// @param  b1 first OBBRSS in configuration (R0, T0)
/// @param  b2 second OBBRSS in identity position
/// @retval sqrDistLowerBound squared lower bound on the distance if OBBRSS do
/// not overlap.
inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                    const OBBRSS& b2, const CollisionRequest& request,
                    FCL_REAL& sqrDistLowerBound) {
  return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
}

/// @brief Computate distance between two OBBRSS, b1 is in configuation (R0, T0)
/// and b2 is in indentity; P and Q, is not NULL, returns the nearest points
inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                         const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL) {
  return distance(R0, T0, b1.rss, b2.rss, P, Q);
}

}  // namespace fcl

}  // namespace hpp

#endif


Generated by: GCOVR (Version 4.2)

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 HPP_FCL_OBBRSS_H
39			#define HPP_FCL_OBBRSS_H
40
41			#include <hpp/fcl/BV/OBB.h>
42			#include <hpp/fcl/BV/RSS.h>
43
44			namespace hpp {
45			namespace fcl {
46
47			struct CollisionRequest;
48
49			/// @addtogroup Bounding_Volume
50			/// @{
51
52			/// @brief Class merging the OBB and RSS, can handle collision and distance
53			/// simultaneously
54			struct HPP_FCL_DLLAPI OBBRSS {
55			/// @brief OBB member, for rotation
56			OBB obb;
57
58			/// @brief RSS member, for distance
59			RSS rss;
60
61			/// @brief Equality operator
62		374509	bool operator==(const OBBRSS& other) const {
63	✓✗✓✗	374509	return obb == other.obb && rss == other.rss;
64			}
65
66			/// @brief Difference operator
67			bool operator!=(const OBBRSS& other) const { return !(*this == other); }
68
69			/// @brief Check whether the OBBRSS contains a point
70			inline bool contain(const Vec3f& p) const { return obb.contain(p); }
71
72			/// @brief Check collision between two OBBRSS
73			bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }
74
75			/// Check collision between two OBBRSS
76			/// @retval sqrDistLowerBound squared lower bound on distance between
77			/// objects if they do not overlap.
78		1330	bool overlap(const OBBRSS& other, const CollisionRequest& request,
79			FCL_REAL& sqrDistLowerBound) const {
80		1330	return obb.overlap(other.obb, request, sqrDistLowerBound);
81			}
82
83			/// @brief Distance between two OBBRSS; P and Q , is not NULL, returns the
84			/// nearest points
85		514	FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL,
86			Vec3f* 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 Vec3f& 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		1527266	inline FCL_REAL size() const { return obb.size(); }
113
114			/// @brief Center of the OBBRSS
115		42248	inline const Vec3f& center() const { return obb.center(); }
116
117			/// @brief Width of the OBRSS
118			inline FCL_REAL width() const { return obb.width(); }
119
120			/// @brief Height of the OBBRSS
121			inline FCL_REAL height() const { return obb.height(); }
122
123			/// @brief Depth of the OBBRSS
124			inline FCL_REAL depth() const { return obb.depth(); }
125
126			/// @brief Volume of the OBBRSS
127			inline FCL_REAL 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 Matrix3f& R0, const Vec3f& 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		44787	inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
144			const OBBRSS& b2, const CollisionRequest& request,
145			FCL_REAL& sqrDistLowerBound) {
146		44787	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		1491440	inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
152			const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL) {
153		1491440	return distance(R0, T0, b1.rss, b2.rss, P, Q);
154			}
155
156			} // namespace fcl
157
158			} // namespace hpp
159
160			#endif