-
Notifications
You must be signed in to change notification settings - Fork 4
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Rebase from 'release/jazzy/geometric_shapes'
- Loading branch information
Showing
20 changed files
with
747 additions
and
162 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,142 @@ | ||
| // Copyright 2024 Open Robotics | ||
| // | ||
| // 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 the Open Robotics 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 HOLDER 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: Martin Pecka */ | ||
|
|
||
| #ifndef GEOMETRIC_SHAPES_OBB_H | ||
| #define GEOMETRIC_SHAPES_OBB_H | ||
|
|
||
| #include <memory> | ||
|
|
||
| #include <Eigen/Core> | ||
| #include <Eigen/Geometry> | ||
|
|
||
| #include <eigen_stl_containers/eigen_stl_containers.h> | ||
| #include <geometric_shapes/aabb.h> | ||
|
|
||
| namespace bodies | ||
| { | ||
| class OBBPrivate; | ||
|
|
||
| /** \brief Represents an oriented bounding box. */ | ||
| class OBB | ||
| { | ||
| public: | ||
| /** \brief Initialize an oriented bounding box at position 0, with 0 extents and | ||
| * identity orientation. */ | ||
| OBB(); | ||
| OBB(const OBB& other); | ||
| OBB(const Eigen::Isometry3d& pose, const Eigen::Vector3d& extents); | ||
| virtual ~OBB(); | ||
|
|
||
| OBB& operator=(const OBB& other); | ||
|
|
||
| /** | ||
| * \brief Set both the pose and extents of the OBB. | ||
| * \param [in] pose New pose of the OBB. | ||
| * \param [in] extents New extents of the OBB. | ||
| */ | ||
| void setPoseAndExtents(const Eigen::Isometry3d& pose, const Eigen::Vector3d& extents); | ||
|
|
||
| /** | ||
| * \brief Get the extents of the OBB. | ||
| * \return The extents. | ||
| */ | ||
| Eigen::Vector3d getExtents() const; | ||
|
|
||
| /** | ||
| * \brief Get the extents of the OBB. | ||
| * \param extents [out] The extents. | ||
| */ | ||
| void getExtents(Eigen::Vector3d& extents) const; | ||
|
|
||
| /** | ||
| * \brief Get the pose of the OBB. | ||
| * \return The pose. | ||
| */ | ||
| Eigen::Isometry3d getPose() const; | ||
|
|
||
| /** | ||
| * \brief Get The pose of the OBB. | ||
| * \param pose The pose. | ||
| */ | ||
| void getPose(Eigen::Isometry3d& pose) const; | ||
|
|
||
| /** | ||
| * \brief Convert this OBB to an axis-aligned BB. | ||
| * \return The AABB. | ||
| */ | ||
| AABB toAABB() const; | ||
|
|
||
| /** | ||
| * \brief Convert this OBB to an axis-aligned BB. | ||
| * \param aabb The AABB. | ||
| */ | ||
| void toAABB(AABB& aabb) const; | ||
|
|
||
| /** | ||
| * \brief Add the other OBB to this one and compute an approximate enclosing OBB. | ||
| * \param box The other box to add. | ||
| * \return Pointer to this OBB after the update. | ||
| */ | ||
| OBB* extendApprox(const OBB& box); | ||
|
|
||
| /** | ||
| * \brief Check if this OBB contains the given point. | ||
| * \param point The point to check. | ||
| * \return Whether the point is inside or not. | ||
| */ | ||
| bool contains(const Eigen::Vector3d& point) const; | ||
|
|
||
| /** | ||
| * \brief Check whether this and the given OBBs have nonempty intersection. | ||
| * \param other The other OBB to check. | ||
| * \return Whether the OBBs overlap. | ||
| */ | ||
| bool overlaps(const OBB& other) const; | ||
|
|
||
| /** | ||
| * \brief Check if this OBB contains whole other OBB. | ||
| * \param point The point to check. | ||
| * \return Whether the point is inside or not. | ||
| */ | ||
| bool contains(const OBB& obb) const; | ||
|
|
||
| /** | ||
| * \brief Compute coordinates of the 8 vertices of this OBB. | ||
| * \return The vertices. | ||
| */ | ||
| EigenSTL::vector_Vector3d computeVertices() const; | ||
|
|
||
| protected: | ||
| /** \brief PIMPL pointer */ | ||
| std::unique_ptr<OBBPrivate> obb_; | ||
| }; | ||
| } // namespace bodies | ||
|
|
||
| #endif // GEOMETRIC_SHAPES_OBB_H |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.