kIOS.h

/*
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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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#ifndef FCL_BV_KIOS_H
#define FCL_BV_KIOS_H

#include "fcl/math/bv/OBB.h"

namespace fcl
{
 
template <typename S_>
class kIOS
{
  struct kIOS_Sphere
  {
    Vector3<S_> o;
    S_ r;
  };

  static kIOS_Sphere encloseSphere(
      const kIOS_Sphere& s0, const kIOS_Sphere& s1);

public:

  using S = S_;

  kIOS_Sphere spheres[5];

  unsigned int num_spheres;

  OBB<S> obb;

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

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

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

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

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

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

  const Vector3<S>& center() const;

  S width() const;

  S height() const;

  S depth() const;

  S volume() const;

  S size() const;

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

  static constexpr S ratio() { return 1.5; }
  static constexpr S invSinA() { return 2; }
  static S cosA() { return std::sqrt(3.0) / 2.0; }
};

using kIOSf = kIOS<float>;
using kIOSd = kIOS<double>;

template <typename S, typename Derived>
kIOS<S> translate(
    const kIOS<S>& bv, const Eigen::MatrixBase<Derived>& t);

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

template <typename S>
bool overlap(
    const Transform3<S>& tf,
    const kIOS<S>& b1,
    const kIOS<S>& b2);

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

template <typename S>
S distance(
    const Transform3<S>& tf,
    const kIOS<S>& b1,
    const kIOS<S>& b2,
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);

} // namespace fcl

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

#endif