kDOP.h

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#ifndef HPP_FCL_KDOP_H
#define HPP_FCL_KDOP_H

#include <stdexcept>
#include <hpp/fcl/data_types.h>

namespace hpp
{
namespace fcl
{

struct CollisionRequest;


template<short N>
class KDOP
{
private:
  Eigen::Array<FCL_REAL, N, 1> dist_;

public:

  KDOP();

  KDOP(const Vec3f& v);

  KDOP(const Vec3f& a, const Vec3f& b);
  
  bool overlap(const KDOP<N>& other) const;

  bool overlap(const KDOP<N>& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const;

  FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;

  KDOP<N>& operator += (const Vec3f& p);

  KDOP<N>& operator += (const KDOP<N>& other);

  KDOP<N> operator + (const KDOP<N>& other) const;

  inline FCL_REAL size() const
  {
    return width() * width() + height() * height() + depth() * depth();
  }

  inline Vec3f center() const
  {
    return (dist_.template head<3>() + dist_.template segment<3>(N/2)) / 2;
  }


  inline FCL_REAL width() const
  {
    return dist_[N / 2] - dist_[0];
  }

  inline FCL_REAL height() const
  {
    return dist_[N / 2 + 1] - dist_[1];
  }

  inline FCL_REAL depth() const
  {
    return dist_[N / 2 + 2] - dist_[2];
  }

  inline FCL_REAL volume() const
  {
    return width() * height() * depth();
  }

  inline FCL_REAL dist(short i) const
  {
    return dist_[i];
  }

  inline FCL_REAL& dist(short i)
  {
    return dist_[i];
  }

  bool inside(const Vec3f& p) const;

  public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

template<short N>
bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/,
             const KDOP<N>& /*b1*/, const KDOP<N>& /*b2*/)
{
  throw std::logic_error ("not implemented");
}

template<short N>
bool overlap(const Matrix3f& /*R0*/, const Vec3f& /*T0*/,
             const KDOP<N>& /*b1*/, const KDOP<N>& /*b2*/,
             const CollisionRequest& /*request*/, FCL_REAL& /*sqrDistLowerBound*/)
{
  throw std::logic_error ("not implemented");
}

template<short N>
KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t);

}

} // namespace hpp

#endif