/usr/include/fcl/BV/OBBRSS.h is in libfcl-dev 0.5.0-5.
This file is owned by root:root, with mode 0o644.
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* 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
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/** \author Jia Pan */
#ifndef FCL_OBBRSS_H
#define FCL_OBBRSS_H
#include "fcl/BV/OBB.h"
#include "fcl/BV/RSS.h"
namespace fcl
{
/// @brief Class merging the OBB and RSS, can handle collision and distance simultaneously
class OBBRSS
{
public:
/// @brief OBB member, for rotation
OBB obb;
/// @brief RSS member, for distance
RSS rss;
/// @brief Check collision between two OBBRSS
bool overlap(const OBBRSS& other) const
{
return obb.overlap(other.obb);
}
/// @brief Check collision between two OBBRSS and return the overlap part.
bool overlap(const OBBRSS& other, OBBRSS& overlap_part) const
{
return overlap(other);
}
/// @brief Check whether the OBBRSS contains a point
inline bool contain(const Vec3f& p) const
{
return obb.contain(p);
}
/// @brief Merge the OBBRSS and a point
OBBRSS& operator += (const Vec3f& p)
{
obb += p;
rss += p;
return *this;
}
/// @brief Merge two OBBRSS
OBBRSS& operator += (const OBBRSS& other)
{
*this = *this + other;
return *this;
}
/// @brief Merge two OBBRSS
OBBRSS operator + (const OBBRSS& other) const
{
OBBRSS result;
result.obb = obb + other.obb;
result.rss = rss + other.rss;
return result;
}
/// @brief Width of the OBRSS
inline FCL_REAL width() const
{
return obb.width();
}
/// @brief Height of the OBBRSS
inline FCL_REAL height() const
{
return obb.height();
}
/// @brief Depth of the OBBRSS
inline FCL_REAL depth() const
{
return obb.depth();
}
/// @brief Volume of the OBBRSS
inline FCL_REAL volume() const
{
return obb.volume();
}
/// @brief Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
inline FCL_REAL size() const
{
return obb.size();
}
/// @brief Center of the OBBRSS
inline const Vec3f& center() const
{
return obb.center();
}
/// @brief Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points
FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
{
return rss.distance(other.rss, P, Q);
}
};
/// @brief Translate the OBBRSS bv
OBBRSS translate(const OBBRSS& bv, const Vec3f& t);
/// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity
bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2);
/// @brief Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points
FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);
}
#endif
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