RSS.h

/*
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 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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#ifndef FCL_BV_RSS_H
#define FCL_BV_RSS_H

#include "fcl/math/constants.h"
#include "fcl/math/geometry.h"

namespace fcl
{

template <typename S_>
class RSS
{
public:

  using S = S_;

  Matrix3<S> axis;

  Vector3<S> To;

  S l[2];

  S r;

  RSS();

  bool overlap(const RSS<S>& other) const;

  bool overlap(const RSS<S>& other, RSS<S>& overlap_part) const;

  bool contain(const Vector3<S>& p) const;

  RSS<S>& operator += (const Vector3<S>& p);

  RSS<S>& operator += (const RSS<S>& other);

  RSS<S> operator + (const RSS<S>& other) const;

  S width() const;

  S height() const;

  S depth() const;

  S volume() const;

  S size() const;

  const Vector3<S> center() const;

  S distance(const RSS<S>& other,
             Vector3<S>* P = nullptr,
             Vector3<S>* Q = nullptr) const;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};

using RSSf = RSS<float>;
using RSSd = RSS<double>;

template <typename S>
void clipToRange(S& val, S a, S b);

template <typename S>
void segCoords(S& t, S& u, S a, S b,
               S A_dot_B, S A_dot_T, S B_dot_T);

template <typename S>
bool inVoronoi(S a, S b,
               S Anorm_dot_B, S Anorm_dot_T,
               S A_dot_B, S A_dot_T, S B_dot_T);

template <typename S>
S rectDistance(
    const Matrix3<S>& Rab,
    const Vector3<S>& Tab,
    const S a[2],
    const S b[2],
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);

template <typename S>
S rectDistance(
    const Transform3<S>& tfab,
    const S a[2],
    const S b[2],
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);

template <typename S, typename DerivedA, typename DerivedB>
S distance(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const RSS<S>& b1,
    const RSS<S>& b2,
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);

template <typename S, typename DerivedA, typename DerivedB>
bool overlap(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const RSS<S>& b1,
    const RSS<S>& b2);

template <typename S>
RSS<S> translate(const RSS<S>& bv, const Vector3<S>& t);

} // namespace fcl

#include "fcl/math/bv/RSS-inl.h"

#endif