.. _program_listing_file_include_coal_BV_RSS.h:

Program Listing for File RSS.h
==============================

|exhale_lsh| :ref:`Return to documentation for file <file_include_coal_BV_RSS.h>` (``include/coal/BV/RSS.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, 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.
    */
   
   #ifndef COAL_RSS_H
   #define COAL_RSS_H
   
   #include "coal/data_types.h"
   
   #include <boost/math/constants/constants.hpp>
   
   namespace coal {
   
   struct CollisionRequest;
   
   
   struct COAL_DLLAPI RSS {
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   
     Matrix3s axes;
   
     Vec3s Tr;
   
     Scalar length[2];
   
     Scalar radius;
   
     RSS() : axes(Matrix3s::Zero()), Tr(Vec3s::Zero()), radius(-1) {
       length[0] = 0;
       length[1] = 0;
     }
   
     bool operator==(const RSS& other) const {
       return axes == other.axes && Tr == other.Tr &&
              length[0] == other.length[0] && length[1] == other.length[1] &&
              radius == other.radius;
     }
   
     bool operator!=(const RSS& other) const { return !(*this == other); }
   
     bool contain(const Vec3s& p) const;
   
     bool overlap(const RSS& other) const;
   
     bool overlap(const RSS& other, const CollisionRequest&,
                  Scalar& sqrDistLowerBound) const {
       sqrDistLowerBound = std::numeric_limits<Scalar>::quiet_NaN();
       return overlap(other);
     }
   
     Scalar distance(const RSS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
   
     RSS& operator+=(const Vec3s& p);
   
     inline RSS& operator+=(const RSS& other) {
       *this = *this + other;
       return *this;
     }
   
     RSS operator+(const RSS& other) const;
   
     inline Scalar size() const {
       return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
               2 * radius);
     }
   
     inline const Vec3s& center() const { return Tr; }
   
     inline Scalar width() const { return length[0] + 2 * radius; }
   
     inline Scalar height() const { return length[1] + 2 * radius; }
   
     inline Scalar depth() const { return 2 * radius; }
   
     inline Scalar volume() const {
       return (length[0] * length[1] * 2 * radius +
               4 * boost::math::constants::pi<Scalar>() * radius * radius *
                   radius);
     }
   
     bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
       return overlap(other);
     }
   };
   
   COAL_DLLAPI Scalar distance(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                               const RSS& b2, Vec3s* P = NULL, Vec3s* Q = NULL);
   
   COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                            const RSS& b2);
   
   COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                            const RSS& b2, const CollisionRequest& request,
                            Scalar& sqrDistLowerBound);
   
   }  // namespace coal
   
   #endif