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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_GEOMETRIC_SHAPES_UTILITY_H |
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#define HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H |
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#include <vector> |
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#include <hpp/fcl/shape/geometric_shapes.h> |
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#include <hpp/fcl/BV/BV.h> |
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#include <hpp/fcl/internal/BV_fitter.h> |
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namespace hpp { |
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namespace fcl { |
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/// @cond IGNORE |
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namespace details { |
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/// @brief get the vertices of some convex shape which can bound the given shape |
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/// in a specific configuration |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Box& box, |
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const Transform3f& tf); |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Sphere& sphere, |
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const Transform3f& tf); |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Ellipsoid& ellipsoid, |
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const Transform3f& tf); |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Capsule& capsule, |
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const Transform3f& tf); |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cone& cone, |
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const Transform3f& tf); |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, |
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const Transform3f& tf); |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const ConvexBase& convex, |
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const Transform3f& tf); |
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HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const TriangleP& triangle, |
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const Transform3f& tf); |
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} // namespace details |
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/// @endcond |
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/// @brief calculate a bounding volume for a shape in a specific configuration |
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template <typename BV, typename S> |
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inline void computeBV(const S& s, const Transform3f& tf, BV& bv) { |
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✓✗ |
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std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf); |
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✓✗ |
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fit(&convex_bound_vertices[0], (unsigned int)convex_bound_vertices.size(), |
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bv); |
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} |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3f& tf, |
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AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Sphere>(const Sphere& s, |
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const Transform3f& tf, AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Ellipsoid>(const Ellipsoid& e, |
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const Transform3f& tf, AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Capsule>(const Capsule& s, |
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const Transform3f& tf, AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf, |
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AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Cylinder>(const Cylinder& s, |
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const Transform3f& tf, AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, ConvexBase>(const ConvexBase& s, |
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const Transform3f& tf, |
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AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, TriangleP>(const TriangleP& s, |
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const Transform3f& tf, AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<AABB, Plane>(const Plane& s, |
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const Transform3f& tf, AABB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3f& tf, |
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OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, Sphere>(const Sphere& s, |
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const Transform3f& tf, OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, Capsule>(const Capsule& s, |
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const Transform3f& tf, OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf, |
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OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, Cylinder>(const Cylinder& s, |
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const Transform3f& tf, OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, ConvexBase>(const ConvexBase& s, |
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const Transform3f& tf, OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<RSS, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, RSS& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBBRSS, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, |
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OBBRSS& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<kIOS, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, kIOS& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, |
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KDOP<16>& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, |
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KDOP<18>& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s, |
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const Transform3f& tf, |
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KDOP<24>& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBB, Plane>(const Plane& s, const Transform3f& tf, |
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OBB& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf, |
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RSS& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<OBBRSS, Plane>(const Plane& s, |
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const Transform3f& tf, OBBRSS& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<kIOS, Plane>(const Plane& s, |
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const Transform3f& tf, kIOS& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s, |
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const Transform3f& tf, |
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KDOP<16>& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s, |
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const Transform3f& tf, |
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KDOP<18>& bv); |
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template <> |
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HPP_FCL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s, |
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const Transform3f& tf, |
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KDOP<24>& bv); |
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/// @brief construct a box shape (with a configuration) from a given bounding |
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/// volume |
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HPP_FCL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const AABB& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const OBB& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const kIOS& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const RSS& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv, |
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Box& box, Transform3f& tf); |
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HPP_FCL_DLLAPI Halfspace transform(const Halfspace& a, const Transform3f& tf); |
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HPP_FCL_DLLAPI Plane transform(const Plane& a, const Transform3f& tf); |
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} // namespace fcl |
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} // namespace hpp |
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#endif |