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halfspace.h
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halfspace.h
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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
* 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_HALFSPACE_H
#define FCL_SHAPE_HALFSPACE_H
#include "fcl/geometry/shape/shape_base.h"
#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/RSS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/math/bv/kDOP.h"
#include "fcl/math/bv/kIOS.h"
namespace fcl
{
/// @brief Half Space: this is equivalent to the Planed in ODE. The separation plane is defined as n * x = d;
/// Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points
/// in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space
template <typename S_>
class FCL_EXPORT Halfspace : public ShapeBase<S_>
{
public:
using S = S_;
/// @brief Construct a half space with normal direction and offset
Halfspace(const Vector3<S>& n, S d);
/// @brief Construct a plane with normal direction and offset
Halfspace(S a, S b, S c, S d_);
Halfspace();
S signedDistance(const Vector3<S>& p) const;
S distance(const Vector3<S>& p) const;
/// @brief Compute AABB
void computeLocalAABB() override;
/// @brief Get node type: a half space
NODE_TYPE getNodeType() const override;
/// @brief Planed normal
Vector3<S> n;
/// @brief Planed offset
S d;
friend
std::ostream& operator<<(std::ostream& out, const Halfspace& halfspace) {
out << "Halfspace(n: " << halfspace.n.transpose() << ", d: "
<< halfspace.d << ")";
return out;
}
protected:
/// @brief Turn non-unit normal into unit
void unitNormalTest();
};
using Halfspacef = Halfspace<float>;
using Halfspaced = Halfspace<double>;
template <typename S>
FCL_EXPORT
Halfspace<S> transform(const Halfspace<S>& a, const Transform3<S>& tf);
} // namespace fcl
#include "fcl/geometry/shape/halfspace-inl.h"
#endif