interval.h

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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
#ifndef FCL_CCD_INTERVAL_H
#define FCL_CCD_INTERVAL_H

#include <iostream>
#include "fcl/common/types.h"

namespace fcl
{

template <typename S>
struct Interval
{
  S i_[2];

  Interval();

  explicit Interval(S v);

  Interval(S left, S right);

  void setValue(S a, S b);

  void setValue(S x);

  S operator [] (size_t i) const;

  S& operator [] (size_t i);

  bool operator == (const Interval& other) const;

  Interval operator + (const Interval& other) const;

  Interval operator - (const Interval& other) const;

  Interval& operator += (const Interval& other);

  Interval& operator -= (const Interval& other);

  Interval operator * (const Interval& other) const;

  Interval& operator *= (const Interval& other);

  Interval operator * (S d) const;

  Interval& operator *= (S d);

  Interval operator / (const Interval& other) const;

  Interval& operator /= (const Interval& other);

  bool overlap(const Interval& other) const;

  bool intersect(const Interval& other);

  Interval operator - () const;

  S getAbsLower() const;

  S getAbsUpper() const;

  bool contains(S v) const;

  Interval& bound(S v);

  Interval& bound(const Interval& other);

  void print() const;

  S center() const;

  S diameter() const;
};

template <typename S>
Interval<S> bound(const Interval<S>& i, S v);

template <typename S>
Interval<S> bound(const Interval<S>& i, const Interval<S>& other);

} // namespace fcl

#include "fcl/math/motion/taylor_model/interval-inl.h"

#endif