| Directory: | ./ |
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| File: | include/multicontact-api/geometry/ellipsoid.hpp |
| Date: | 2025-03-10 16:17:01 |
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| Lines: | 5 | 14 | 35.7% |
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| 1 | // Copyright (c) 2015-2018, CNRS | ||
| 2 | // Authors: Justin Carpentier <jcarpent@laas.fr> | ||
| 3 | |||
| 4 | #ifndef __multicontact_api_geometry_ellipsoid_hpp__ | ||
| 5 | #define __multicontact_api_geometry_ellipsoid_hpp__ | ||
| 6 | |||
| 7 | #include <Eigen/Dense> | ||
| 8 | #include <iostream> | ||
| 9 | |||
| 10 | #include "multicontact-api/geometry/fwd.hpp" | ||
| 11 | |||
| 12 | namespace multicontact_api { | ||
| 13 | namespace geometry { | ||
| 14 | template <typename _Scalar, int _dim, int _Options> | ||
| 15 | struct Ellipsoid { | ||
| 16 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 17 | typedef _Scalar Scalar; | ||
| 18 | enum { dim = _dim }; | ||
| 19 | enum { Options = _Options }; | ||
| 20 | |||
| 21 | typedef Eigen::Matrix<Scalar, dim, dim, Options> Matrix; | ||
| 22 | typedef Eigen::Matrix<Scalar, dim, 1, Options> Vector; | ||
| 23 | |||
| 24 | 1 | Ellipsoid(const Matrix& A, const Vector& center) : m_A(A), m_center(center) {} | |
| 25 | |||
| 26 | 1 | Scalar lhsValue(const Vector& point) const { | |
| 27 |
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1 | return (m_A * (point - m_center)).norm(); |
| 28 | } | ||
| 29 | |||
| 30 | 1 | const Matrix& A() const { return m_A; } | |
| 31 | ✗ | Matrix& A() { return m_A; } | |
| 32 | 1 | const Vector& center() const { return m_center; } | |
| 33 | ✗ | Vector& center() { return m_center; } | |
| 34 | |||
| 35 | ✗ | void disp(std::ostream& os) const { | |
| 36 | ✗ | os << "A:\n" | |
| 37 | ✗ | << m_A << std::endl | |
| 38 | ✗ | << "center: " << m_center.transpose() << std::endl; | |
| 39 | } | ||
| 40 | |||
| 41 | ✗ | friend std::ostream& operator<<(std::ostream& os, const Ellipsoid& E) { | |
| 42 | ✗ | E.disp(os); | |
| 43 | ✗ | return os; | |
| 44 | } | ||
| 45 | |||
| 46 | protected: | ||
| 47 | /// \brief | ||
| 48 | Matrix m_A; | ||
| 49 | |||
| 50 | /// \brief Center of the ellipsoid expressed in the global frame. | ||
| 51 | Vector m_center; | ||
| 52 | }; | ||
| 53 | } // namespace geometry | ||
| 54 | } // namespace multicontact_api | ||
| 55 | |||
| 56 | #endif // ifndef __multicontact_api_geometry_ellipsoid_hpp__ | ||
| 57 |