.. _program_listing_file_include_coal_BV_kDOP.h:

Program Listing for File kDOP.h
===============================

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

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

.. code-block:: cpp

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    *  Copyright (c) 2011-2014, Willow Garage, Inc.
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   #ifndef COAL_KDOP_H
   #define COAL_KDOP_H
   
   #include "coal/fwd.hh"
   #include "coal/data_types.h"
   
   namespace coal {
   
   struct CollisionRequest;
   
   
   template <short N>
   class COAL_DLLAPI KDOP {
    protected:
     Eigen::Array<CoalScalar, N, 1> dist_;
   
    public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   
     KDOP();
   
     KDOP(const Vec3s& v);
   
     KDOP(const Vec3s& a, const Vec3s& b);
   
     bool operator==(const KDOP& other) const {
       return (dist_ == other.dist_).all();
     }
   
     bool operator!=(const KDOP& other) const {
       return (dist_ != other.dist_).any();
     }
   
     bool overlap(const KDOP<N>& other) const;
   
     bool overlap(const KDOP<N>& other, const CollisionRequest& request,
                  CoalScalar& sqrDistLowerBound) const;
   
     CoalScalar distance(const KDOP<N>& other, Vec3s* P = NULL,
                         Vec3s* Q = NULL) const;
   
     KDOP<N>& operator+=(const Vec3s& p);
   
     KDOP<N>& operator+=(const KDOP<N>& other);
   
     KDOP<N> operator+(const KDOP<N>& other) const;
   
     inline CoalScalar size() const {
       return width() * width() + height() * height() + depth() * depth();
     }
   
     inline Vec3s center() const {
       return (dist_.template head<3>() + dist_.template segment<3>(N / 2)) / 2;
     }
   
     inline CoalScalar width() const { return dist_[N / 2] - dist_[0]; }
   
     inline CoalScalar height() const { return dist_[N / 2 + 1] - dist_[1]; }
   
     inline CoalScalar depth() const { return dist_[N / 2 + 2] - dist_[2]; }
   
     inline CoalScalar volume() const { return width() * height() * depth(); }
   
     inline CoalScalar dist(short i) const { return dist_[i]; }
   
     inline CoalScalar& dist(short i) { return dist_[i]; }
   
     bool inside(const Vec3s& p) const;
   };
   
   template <short N>
   bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
                const KDOP<N>& /*b2*/) {
     COAL_THROW_PRETTY("not implemented", std::logic_error);
   }
   
   template <short N>
   bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
                const KDOP<N>& /*b2*/, const CollisionRequest& /*request*/,
                CoalScalar& /*sqrDistLowerBound*/) {
     COAL_THROW_PRETTY("not implemented", std::logic_error);
   }
   
   template <short N>
   COAL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3s& t);
   
   }  // namespace coal
   
   #endif