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minkowski_diff.h
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minkowski_diff.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_NARROWPHASE_DETAIL_MINKOWSKIDIFF_H
#define FCL_NARROWPHASE_DETAIL_MINKOWSKIDIFF_H
#include "fcl/math/detail/project.h"
#include "fcl/object/geometry/shape/shape_base.h"
namespace fcl
{
namespace detail
{
/// @brief the support function for shape
template <typename S, typename Derived>
Vector3<S> getSupport(
const ShapeBase<S>* shape,
const Eigen::MatrixBase<Derived>& dir);
/// @brief Minkowski difference class of two shapes
template <typename S>
struct MinkowskiDiff
{
/// @brief points to two shapes
const ShapeBase<S>* shapes[2];
/// @brief rotation from shape0 to shape1
Matrix3<S> toshape1;
/// @brief transform from shape1 to shape0
Transform3<S> toshape0;
MinkowskiDiff();
/// @brief support function for shape0
Vector3<S> support0(const Vector3<S>& d) const;
/// @brief support function for shape1
Vector3<S> support1(const Vector3<S>& d) const;
/// @brief support function for the pair of shapes
Vector3<S> support(const Vector3<S>& d) const;
/// @brief support function for the d-th shape (d = 0 or 1)
Vector3<S> support(const Vector3<S>& d, size_t index) const;
/// @brief support function for translating shape0, which is translating at velocity v
Vector3<S> support0(const Vector3<S>& d, const Vector3<S>& v) const;
/// @brief support function for the pair of shapes, where shape0 is translating at velocity v
Vector3<S> support(const Vector3<S>& d, const Vector3<S>& v) const;
/// @brief support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v
Vector3<S> support(const Vector3<S>& d, const Vector3<S>& v, size_t index) const;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
using MinkowskiDifff = MinkowskiDiff<float>;
using MinkowskiDiffd = MinkowskiDiff<double>;
} // namespace detail
} // namespace fcl
#include "fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h"
#endif