RSS.h 5.42 KB
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/*
 * Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  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.
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 *   * Neither the name of Open Source Robotics Foundation nor the names of its
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 *     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.
 */

/** \author Jia Pan */

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#ifndef HPP_FCL_RSS_H
#define HPP_FCL_RSS_H
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#include <stdexcept>
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#include <hpp/fcl/data_types.h>
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#include <boost/math/constants/constants.hpp>
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namespace hpp
{
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namespace fcl
{

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  class CollisionRequest;
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/// @brief A class for rectangle sphere-swept bounding volume
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class RSS
{
public:
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  /// @brief Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS.
  /// We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.
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  Matrix3f axes;
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  /// @brief Origin of the rectangle in RSS
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  Vec3f Tr;

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  /// @brief Side lengths of rectangle
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  FCL_REAL length[2];
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  /// @brief Radius of sphere summed with rectangle to form RSS
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  FCL_REAL radius;
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  /// @brief Check whether the RSS contains a point
  inline bool contain(const Vec3f& p) const;

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  /// @brief Check collision between two RSS
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  bool overlap(const RSS& other) const;

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  /// Not implemented
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  bool overlap(const RSS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const
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  {
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    sqrDistLowerBound = sqrt (-1);
    return overlap (other);
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  }

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  /// @brief the distance between two RSS; P and Q, if not NULL, return the nearest points
  FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
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  /// @brief A simple way to merge the RSS and a point, not compact.
  /// @todo This function may have some bug.
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  RSS& operator += (const Vec3f& p);

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  /// @brief Merge the RSS and another RSS
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  inline RSS& operator += (const RSS& other)
  {
    *this = *this + other;
    return *this;
  }

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  /// @brief Return the merged RSS of current RSS and the other one
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  RSS operator + (const RSS& other) const;

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  /// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
  inline FCL_REAL size() const
  {
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    return (std::sqrt(length[0] * length[0] + length[1] * length[1]) + 2 * radius);
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  }

  /// @brief The RSS center
  inline const Vec3f& center() const
  {
    return Tr;
  }

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  /// @brief Width of the RSS
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  inline FCL_REAL width() const
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  {
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    return length[0] + 2 * radius;
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  }

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  /// @brief Height of the RSS
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  inline FCL_REAL height() const
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  {
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    return length[1] + 2 * radius;
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  }

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  /// @brief Depth of the RSS
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  inline FCL_REAL depth() const
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  {
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    return 2 * radius;
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  }

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  /// @brief Volume of the RSS
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  inline FCL_REAL volume() const
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  {
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    return (length[0] * length[1] * 2 * radius + 4 * boost::math::constants::pi<FCL_REAL>() * radius * radius * radius);
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  }

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  /// @brief Check collision between two RSS and return the overlap part.
  /// For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.
  bool overlap(const RSS& other, RSS& /*overlap_part*/) const
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  {
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    return overlap(other);
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  }
};

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/// @brief distance between two RSS bounding volumes
/// P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points
/// Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)
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FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);
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/// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.
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bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2);
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/// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.
bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2,
             const CollisionRequest& request,
             FCL_REAL& sqrDistLowerBound);
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}


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} // namespace hpp

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#endif