kDOP.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef FCL_BV_KDOP_H
#define FCL_BV_KDOP_H

#include <cstddef>
#include <iostream>

#include "fcl/common/types.h"

namespace fcl
{

template <typename S_, std::size_t N>
class KDOP
{
public:

  using S = S_;

  KDOP();

  KDOP(const Vector3<S>& v);

  KDOP(const Vector3<S>& a, const Vector3<S>& b);
  
  bool overlap(const KDOP<S, N>& other) const;

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

  KDOP<S, N>& operator += (const Vector3<S>& p);

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

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

  S width() const;

  S height() const;

  S depth() const;

  S volume() const;

  S size() const;

  Vector3<S> center() const;

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

private:
  S dist_[N];

public:
  S dist(std::size_t i) const;

  S& dist(std::size_t i);

};

template <std::size_t N>
using KDOPf = KDOP<float, N>;
template <std::size_t N>
using KDOPd = KDOP<double, N>;

template <typename S>
void minmax(S a, S b, S& minv, S& maxv);

template <typename S>
void minmax(S p, S& minv, S& maxv);

template <typename S, std::size_t N>
void getDistances(const Vector3<S>& p, S* d);

template <typename S, std::size_t N, typename Derived>
KDOP<S, N> translate(
    const KDOP<S, N>& bv, const Eigen::MatrixBase<Derived>& t);

} // namespace fcl

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

#endif