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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jia Pan */ |
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#ifndef HPP_FCL_KDOP_H |
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#define HPP_FCL_KDOP_H |
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#include <hpp/fcl/fwd.hh> |
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#include <hpp/fcl/data_types.h> |
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namespace hpp { |
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namespace fcl { |
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struct CollisionRequest; |
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/// @addtogroup Bounding_Volume |
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/// @{ |
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/// @brief KDOP class describes the KDOP collision structures. K is set as the |
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/// template parameter, which should be 16, 18, or 24 |
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/// The KDOP structure is defined by some pairs of parallel planes defined by |
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/// some axes. |
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/// For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off |
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/// some space of the edges: |
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/// (-1,0,0) and (1,0,0) -> indices 0 and 8 |
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/// (0,-1,0) and (0,1,0) -> indices 1 and 9 |
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/// (0,0,-1) and (0,0,1) -> indices 2 and 10 |
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/// (-1,-1,0) and (1,1,0) -> indices 3 and 11 |
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/// (-1,0,-1) and (1,0,1) -> indices 4 and 12 |
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/// (0,-1,-1) and (0,1,1) -> indices 5 and 13 |
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/// (-1,1,0) and (1,-1,0) -> indices 6 and 14 |
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/// (-1,0,1) and (1,0,-1) -> indices 7 and 15 |
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/// For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off |
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/// some space of the edges: |
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/// (-1,0,0) and (1,0,0) -> indices 0 and 9 |
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/// (0,-1,0) and (0,1,0) -> indices 1 and 10 |
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/// (0,0,-1) and (0,0,1) -> indices 2 and 11 |
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/// (-1,-1,0) and (1,1,0) -> indices 3 and 12 |
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/// (-1,0,-1) and (1,0,1) -> indices 4 and 13 |
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/// (0,-1,-1) and (0,1,1) -> indices 5 and 14 |
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/// (-1,1,0) and (1,-1,0) -> indices 6 and 15 |
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/// (-1,0,1) and (1,0,-1) -> indices 7 and 16 |
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/// (0,-1,1) and (0,1,-1) -> indices 8 and 17 |
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/// For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off |
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/// some space of the edges: |
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/// (-1,0,0) and (1,0,0) -> indices 0 and 12 |
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/// (0,-1,0) and (0,1,0) -> indices 1 and 13 |
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/// (0,0,-1) and (0,0,1) -> indices 2 and 14 |
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/// (-1,-1,0) and (1,1,0) -> indices 3 and 15 |
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/// (-1,0,-1) and (1,0,1) -> indices 4 and 16 |
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/// (0,-1,-1) and (0,1,1) -> indices 5 and 17 |
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/// (-1,1,0) and (1,-1,0) -> indices 6 and 18 |
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/// (-1,0,1) and (1,0,-1) -> indices 7 and 19 |
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/// (0,-1,1) and (0,1,-1) -> indices 8 and 20 |
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/// (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 |
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/// (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 |
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/// (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23 |
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template <short N> |
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class HPP_FCL_DLLAPI KDOP { |
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protected: |
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/// @brief Origin's distances to N KDOP planes |
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Eigen::Array<FCL_REAL, N, 1> dist_; |
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public: |
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/// @brief Creating kDOP containing nothing |
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KDOP(); |
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/// @brief Creating kDOP containing only one point |
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KDOP(const Vec3f& v); |
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/// @brief Creating kDOP containing two points |
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KDOP(const Vec3f& a, const Vec3f& b); |
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/// @brief Equality operator |
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bool operator==(const KDOP& other) const { |
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return (dist_ == other.dist_).all(); |
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} |
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/// @brief Difference operator |
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bool operator!=(const KDOP& other) const { |
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return (dist_ != other.dist_).any(); |
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} |
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/// @brief Check whether two KDOPs overlap. |
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bool overlap(const KDOP<N>& other) const; |
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/// @brief Check whether two KDOPs overlap. |
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/// @return true if collision happens. |
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/// @retval sqrDistLowerBound squared lower bound on distance between boxes if |
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/// they do not overlap. |
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bool overlap(const KDOP<N>& other, const CollisionRequest& request, |
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FCL_REAL& sqrDistLowerBound) const; |
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/// @brief The distance between two KDOP<N>. Not implemented. |
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FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL, |
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Vec3f* Q = NULL) const; |
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/// @brief Merge the point and the KDOP |
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KDOP<N>& operator+=(const Vec3f& p); |
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/// @brief Merge two KDOPs |
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KDOP<N>& operator+=(const KDOP<N>& other); |
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/// @brief Create a KDOP by mergin two KDOPs |
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KDOP<N> operator+(const KDOP<N>& other) const; |
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/// @brief Size of the kDOP (used in BV_Splitter to order two kDOPs) |
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inline FCL_REAL size() const { |
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return width() * width() + height() * height() + depth() * depth(); |
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} |
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/// @brief The (AABB) center |
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inline Vec3f center() const { |
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✓✗✓✗
✓✗✓✗
✓✗ |
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return (dist_.template head<3>() + dist_.template segment<3>(N / 2)) / 2; |
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} |
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/// @brief The (AABB) width |
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inline FCL_REAL width() const { return dist_[N / 2] - dist_[0]; } |
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/// @brief The (AABB) height |
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inline FCL_REAL height() const { return dist_[N / 2 + 1] - dist_[1]; } |
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/// @brief The (AABB) depth |
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inline FCL_REAL depth() const { return dist_[N / 2 + 2] - dist_[2]; } |
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/// @brief The (AABB) volume |
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inline FCL_REAL volume() const { return width() * height() * depth(); } |
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inline FCL_REAL dist(short i) const { return dist_[i]; } |
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inline FCL_REAL& dist(short i) { return dist_[i]; } |
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//// @brief Check whether one point is inside the KDOP |
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bool inside(const Vec3f& p) const; |
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public: |
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/// \cond |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/// \endcond |
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}; |
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template <short N> |
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bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/, const KDOP<N>& /*b1*/, |
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const KDOP<N>& /*b2*/) { |
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HPP_FCL_THROW_PRETTY("not implemented", std::logic_error); |
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} |
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template <short N> |
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bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/, const KDOP<N>& /*b1*/, |
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const KDOP<N>& /*b2*/, const CollisionRequest& /*request*/, |
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FCL_REAL& /*sqrDistLowerBound*/) { |
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HPP_FCL_THROW_PRETTY("not implemented", std::logic_error); |
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} |
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/// @brief translate the KDOP BV |
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template <short N> |
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HPP_FCL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t); |
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} // namespace fcl |
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} // namespace hpp |
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#endif |