-
Notifications
You must be signed in to change notification settings - Fork 417
/
ellipsoid.h
93 lines (74 loc) · 2.95 KB
/
ellipsoid.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
/*
* 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.
*/
/** @author Jia Pan */
#ifndef FCL_SHAPE_ELLIPSOID_H
#define FCL_SHAPE_ELLIPSOID_H
#include "fcl/geometry/shape/shape_base.h"
namespace fcl
{
/// @brief Center at zero point ellipsoid
template <typename S_>
class FCL_EXPORT Ellipsoid : public ShapeBase<S_>
{
public:
using S = S_;
/// @brief Constructor
Ellipsoid(S a, S b, S c);
/// @brief Constructor
Ellipsoid(const Vector3<S>& radii);
/// @brief Radii of the ellipsoid
Vector3<S> radii;
/// @brief Compute AABB
void computeLocalAABB() override;
/// @brief Get node type: a sphere
NODE_TYPE getNodeType() const override;
// Documentation inherited
Matrix3<S> computeMomentofInertia() const override;
// Documentation inherited
S computeVolume() const override;
/// @brief get the vertices of some convex shape which can bound this shape in
/// a specific configuration
std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
friend
std::ostream& operator<<(std::ostream& out, const Ellipsoid& ellipsoid) {
out << "Ellipsoid(radii: " << ellipsoid.radii.transpose()<< ")";
return out;
}
};
using Ellipsoidf = Ellipsoid<float>;
using Ellipsoidd = Ellipsoid<double>;
} // namespace fcl
#include "fcl/geometry/shape/ellipsoid-inl.h"
#endif