/usr/include/fcl/ccd/interval_vector.h is in libfcl-dev 0.5.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
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// This code is based on code developed by Stephane Redon at UNC and Inria for the CATCH library: http://graphics.ewha.ac.kr/CATCH/
/** \author Jia Pan */
#ifndef FCL_CCD_INTERVAL_VECTOR_H
#define FCL_CCD_INTERVAL_VECTOR_H
#include "fcl/ccd/interval.h"
#include "fcl/math/vec_3f.h"
namespace fcl
{
struct IVector3
{
Interval i_[3];
IVector3();
IVector3(FCL_REAL v);
IVector3(FCL_REAL x, FCL_REAL y, FCL_REAL z);
IVector3(FCL_REAL xl, FCL_REAL xu, FCL_REAL yl, FCL_REAL yu, FCL_REAL zl, FCL_REAL zu);
IVector3(Interval v[3]);
IVector3(FCL_REAL v[3][2]);
IVector3(const Interval& v1, const Interval& v2, const Interval& v3);
IVector3(const Vec3f& v);
inline void setValue(FCL_REAL v)
{
i_[0].setValue(v);
i_[1].setValue(v);
i_[2].setValue(v);
}
inline void setValue(FCL_REAL x, FCL_REAL y, FCL_REAL z)
{
i_[0].setValue(x);
i_[1].setValue(y);
i_[2].setValue(z);
}
inline void setValue(FCL_REAL xl, FCL_REAL xu, FCL_REAL yl, FCL_REAL yu, FCL_REAL zl, FCL_REAL zu)
{
i_[0].setValue(xl, xu);
i_[1].setValue(yl, yu);
i_[2].setValue(zl, zu);
}
inline void setValue(FCL_REAL v[3][2])
{
i_[0].setValue(v[0][0], v[0][1]);
i_[1].setValue(v[1][0], v[1][1]);
i_[2].setValue(v[2][0], v[2][1]);
}
inline void setValue(Interval v[3])
{
i_[0] = v[0];
i_[1] = v[1];
i_[2] = v[2];
}
inline void setValue(const Interval& v1, const Interval& v2, const Interval& v3)
{
i_[0] = v1;
i_[1] = v2;
i_[2] = v3;
}
inline void setValue(const Vec3f& v)
{
i_[0].setValue(v[0]);
i_[1].setValue(v[1]);
i_[2].setValue(v[2]);
}
inline void setValue(FCL_REAL v[3])
{
i_[0].setValue(v[0]);
i_[1].setValue(v[1]);
i_[2].setValue(v[2]);
}
IVector3 operator + (const IVector3& other) const;
IVector3& operator += (const IVector3& other);
IVector3 operator - (const IVector3& other) const;
IVector3& operator -= (const IVector3& other);
Interval dot(const IVector3& other) const;
IVector3 cross(const IVector3& other) const;
Interval dot(const Vec3f& other) const;
IVector3 cross(const Vec3f& other) const;
inline const Interval& operator [] (size_t i) const
{
return i_[i];
}
inline Interval& operator [] (size_t i)
{
return i_[i];
}
inline Vec3f getLow() const
{
return Vec3f(i_[0][0], i_[1][0], i_[2][0]);
}
inline Vec3f getHigh() const
{
return Vec3f(i_[0][1], i_[1][1], i_[2][1]);
}
void print() const;
Vec3f center() const;
FCL_REAL volumn() const;
void setZero();
void bound(const Vec3f& v);
void bound(const IVector3& v);
bool overlap(const IVector3& v) const;
bool contain(const IVector3& v) const;
};
IVector3 bound(const IVector3& i, const Vec3f& v);
IVector3 bound(const IVector3& i, const IVector3& v);
}
#endif
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