hpp::fcl::OBBRSS Class Reference

Class merging the OBB and RSS, can handle collision and distance simultaneously. More...

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

Collaboration diagram for hpp::fcl::OBBRSS:

Public Member Functions
bool	overlap (const OBBRSS &other) const
	Check collision between two OBBRSS. More...
bool	overlap (const OBBRSS &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check collision between two OBBRSS. More...
bool	overlap (const OBBRSS &other, OBBRSS &) const
	Check collision between two OBBRSS and return the overlap part. More...
bool	contain (const Vec3f &p) const
	Check whether the OBBRSS contains a point. More...
OBBRSS &	operator+= (const Vec3f &p)
	Merge the OBBRSS and a point. More...
OBBRSS &	operator+= (const OBBRSS &other)
	Merge two OBBRSS. More...
OBBRSS	operator+ (const OBBRSS &other) const
	Merge two OBBRSS. More...
FCL_REAL	width () const
	Width of the OBRSS. More...
FCL_REAL	height () const
	Height of the OBBRSS. More...
FCL_REAL	depth () const
	Depth of the OBBRSS. More...
FCL_REAL	volume () const
	Volume of the OBBRSS. More...
FCL_REAL	size () const
	Size of the OBBRSS (used in BV_Splitter to order two OBBRSS) More...
const Vec3f &	center () const
	Center of the OBBRSS. More...
FCL_REAL	distance (const OBBRSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
	Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points. More...

Public Attributes
OBB	obb
	OBB member, for rotation. More...
RSS	rss
	RSS member, for distance. More...

Detailed Description

Class merging the OBB and RSS, can handle collision and distance simultaneously.

Member Function Documentation

const Vec3f& hpp::fcl::OBBRSS::center ( ) const

inline

Center of the OBBRSS.

References hpp::fcl::OBB::center().

bool hpp::fcl::OBBRSS::contain ( const Vec3f &  p ) const

inline

Check whether the OBBRSS contains a point.

References hpp::fcl::OBB::contain().

FCL_REAL hpp::fcl::OBBRSS::depth ( ) const

inline

Depth of the OBBRSS.

References hpp::fcl::OBB::depth().

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

inline

Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.

References hpp::fcl::RSS::distance(), overlap(), rss, and hpp::fcl::translate().

FCL_REAL hpp::fcl::OBBRSS::height ( ) const

inline

Height of the OBBRSS.

References hpp::fcl::OBB::height().

OBBRSS hpp::fcl::OBBRSS::operator+ ( const OBBRSS &  other ) const

inline

Merge two OBBRSS.

References obb, and rss.

OBBRSS& hpp::fcl::OBBRSS::operator+= ( const Vec3f &  p )

inline

Merge the OBBRSS and a point.

OBBRSS& hpp::fcl::OBBRSS::operator+= ( const OBBRSS &  other )

inline

Merge two OBBRSS.

bool hpp::fcl::OBBRSS::overlap ( const OBBRSS &  other ) const

inline

Check collision between two OBBRSS.

References obb, and hpp::fcl::OBB::overlap().

Referenced by distance(), and overlap().

bool hpp::fcl::OBBRSS::overlap ( const OBBRSS &  other, const CollisionRequest &  request, FCL_REAL &  sqrDistLowerBound  ) const

inline

Check collision between two OBBRSS.

Return values

sqrDistLowerBound

squared lower bound on distance between objects if they do not overlap.

References obb, and hpp::fcl::OBB::overlap().

bool hpp::fcl::OBBRSS::overlap ( const OBBRSS &  other, OBBRSS &    ) const

inline

Check collision between two OBBRSS and return the overlap part.

References overlap().

FCL_REAL hpp::fcl::OBBRSS::size ( ) const

inline

Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)

References hpp::fcl::OBB::size().

FCL_REAL hpp::fcl::OBBRSS::volume ( ) const

inline

Volume of the OBBRSS.

References hpp::fcl::OBB::volume().

FCL_REAL hpp::fcl::OBBRSS::width ( ) const

inline

Width of the OBRSS.

References hpp::fcl::OBB::width().

Member Data Documentation

OBB hpp::fcl::OBBRSS::obb

OBB member, for rotation.

Referenced by operator+(), and overlap().

RSS hpp::fcl::OBBRSS::rss

RSS member, for distance.

Referenced by distance(), and operator+().