fcl::RSS Class Reference

A class for rectangle sphere-swept bounding volume. More...

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

Collaboration diagram for fcl::RSS:

Public Member Functions
bool	overlap (const RSS &other) const
	Check collision between two RSS. More...
bool	overlap (const RSS &other, FCL_REAL &sqrDistLowerBound) const
	Not implemented. More...
bool	overlap (const RSS &other, RSS &overlap_part) const
	Check collision between two RSS and return the overlap part. More...
bool	contain (const Vec3f &p) const
	Check whether the RSS contains a point. More...
RSS &	operator+= (const Vec3f &p)
	A simple way to merge the RSS and a point, not compact. More...
RSS &	operator+= (const RSS &other)
	Merge the RSS and another RSS. More...
RSS	operator+ (const RSS &other) const
	Return the merged RSS of current RSS and the other one. More...
FCL_REAL	width () const
	Width of the RSS. More...
FCL_REAL	height () const
	Height of the RSS. More...
FCL_REAL	depth () const
	Depth of the RSS. More...
FCL_REAL	volume () const
	Volume of the RSS. More...
FCL_REAL	size () const
	Size of the RSS (used in BV_Splitter to order two RSSs) More...
const Vec3f &	center () const
	The RSS center. More...
FCL_REAL	distance (const RSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
	the distance between two RSS; P and Q, if not NULL, return the nearest points More...

Public Attributes
Vec3f	axis [3]
	Orientation of RSS. More...
Vec3f	Tr
	Origin of the rectangle in RSS. More...
FCL_REAL	l [2]
	Side lengths of rectangle. More...
FCL_REAL	r
	Radius of sphere summed with rectangle to form RSS. More...

Detailed Description

A class for rectangle sphere-swept bounding volume.

Member Function Documentation

const Vec3f& fcl::RSS::center ( ) const

inline

The RSS center.

References Tr.

bool fcl::RSS::contain ( const Vec3f &  p ) const

inline

Check whether the RSS contains a point.

FCL_REAL fcl::RSS::depth ( ) const

inline

Depth of the RSS.

References r.

FCL_REAL fcl::RSS::distance	(	const RSS &	other,
		Vec3f *	P = NULL,
		Vec3f *	Q = NULL
	)		const

the distance between two RSS; P and Q, if not NULL, return the nearest points

Referenced by fcl::OBBRSS::distance().

FCL_REAL fcl::RSS::height ( ) const

inline

Height of the RSS.

References r.

RSS fcl::RSS::operator+

(

const RSS &

other

)

const

Return the merged RSS of current RSS and the other one.

RSS& fcl::RSS::operator+=

(

const Vec3f &

p

)

A simple way to merge the RSS and a point, not compact.

Todo:

This function may have some bug.

RSS& fcl::RSS::operator+= ( const RSS &  other )

inline

Merge the RSS and another RSS.

bool fcl::RSS::overlap

(

const RSS &

other

)

const

Check collision between two RSS.

Referenced by overlap().

bool fcl::RSS::overlap ( const RSS &  other, FCL_REAL &  sqrDistLowerBound  ) const

inline

Not implemented.

bool fcl::RSS::overlap ( const RSS &  other, RSS &  overlap_part  ) const

inline

Check collision between two RSS and return the overlap part.

For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

References overlap().

FCL_REAL fcl::RSS::size ( ) const

inline

Size of the RSS (used in BV_Splitter to order two RSSs)

FCL_REAL fcl::RSS::volume ( ) const

inline

Volume of the RSS.

FCL_REAL fcl::RSS::width ( ) const

inline

Width of the RSS.

References r.

Member Data Documentation

Vec3f fcl::RSS::axis[3]

Orientation of RSS.

axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

FCL_REAL fcl::RSS::l[2]

Side lengths of rectangle.

FCL_REAL fcl::RSS::r

Radius of sphere summed with rectangle to form RSS.

Referenced by depth(), height(), and width().

Vec3f fcl::RSS::Tr

Origin of the rectangle in RSS.

Referenced by center().