moveit2
The MoveIt Motion Planning Framework for ROS 2.
aabb.cpp
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2013, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Martin Pecka */
36 
38 #include <geometric_shapes/check_isometry.h>
39 
40 void moveit::core::AABB::extendWithTransformedBox(const Eigen::Isometry3d& transform, const Eigen::Vector3d& box)
41 {
42  // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) (BSD-licensed code):
43  // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
44  // We don't call their code because it would need creating temporary objects, and their method is in floats.
45  //
46  // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
47 
48  ASSERT_ISOMETRY(transform) // unsanitized input, could contain non-isometry
49  const Eigen::Matrix3d& r = transform.linear();
50  const Eigen::Vector3d& t = transform.translation();
51 
52  double x_range = 0.5 * (fabs(r(0, 0) * box[0]) + fabs(r(0, 1) * box[1]) + fabs(r(0, 2) * box[2]));
53  double y_range = 0.5 * (fabs(r(1, 0) * box[0]) + fabs(r(1, 1) * box[1]) + fabs(r(1, 2) * box[2]));
54  double z_range = 0.5 * (fabs(r(2, 0) * box[0]) + fabs(r(2, 1) * box[1]) + fabs(r(2, 2) * box[2]));
55 
56  const Eigen::Vector3d v_delta(x_range, y_range, z_range);
57  extend(t + v_delta);
58  extend(t - v_delta);
59 }
void extendWithTransformedBox(const Eigen::Isometry3d &transform, const Eigen::Vector3d &box)
Extend with a box transformed by the given transform.
Definition: aabb.cpp:40
Vec3fX< details::Vec3Data< double > > Vector3d
Definition: fcl_compat.h:89
r
Definition: plan.py:56