-
Notifications
You must be signed in to change notification settings - Fork 417
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
14 changed files
with
2,891 additions
and
2,891 deletions.
There are no files selected for viewing
Large diffs are not rendered by default.
Oops, something went wrong.
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 |
|---|---|---|
| @@ -1,80 +1,80 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| * Copyright (c) 2014-2016, 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. | ||
| */ | ||
|
|
||
| /** @author Jia Pan */ | ||
|
|
||
| #ifndef FCL_NARROWPHASE_DETAIL_POLYSOLVER_H | ||
| #define FCL_NARROWPHASE_DETAIL_POLYSOLVER_H | ||
|
|
||
| #include "fcl/export.h" | ||
|
|
||
| namespace fcl | ||
| { | ||
|
|
||
| namespace detail { | ||
|
|
||
| /// @brief A class solves polynomial degree (1,2,3) equations | ||
| template <typename S> | ||
| class PolySolver | ||
| { | ||
| public: | ||
| /// @brief Solve a linear equation with coefficients c, return roots s and number of roots | ||
| static int solveLinear(S c[2], S s[1]); | ||
|
|
||
| /// @brief Solve a quadratic function with coefficients c, return roots s and number of roots | ||
| static int solveQuadric(S c[3], S s[2]); | ||
|
|
||
| /// @brief Solve a cubic function with coefficients c, return roots s and number of roots | ||
| static int solveCubic(S c[4], S s[3]); | ||
|
|
||
| private: | ||
| /// @brief Check whether v is zero | ||
| static bool isZero(S v); | ||
|
|
||
| /// @brief Compute v^{1/3} | ||
| static bool cbrt(S v); | ||
|
|
||
| static constexpr S getNearZeroThreshold(); | ||
| }; | ||
|
|
||
| using PolySolverf = PolySolver<float>; | ||
| using PolySolverd = PolySolver<double>; | ||
|
|
||
| } // namespace detail | ||
| } // namespace fcl | ||
|
|
||
| #include "fcl/math/detail/polysolver-inl.h" | ||
|
|
||
| #endif | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| * Copyright (c) 2014-2016, 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. | ||
| */ | ||
|
|
||
| /** @author Jia Pan */ | ||
|
|
||
| #ifndef FCL_NARROWPHASE_DETAIL_POLYSOLVER_H | ||
| #define FCL_NARROWPHASE_DETAIL_POLYSOLVER_H | ||
|
|
||
| #include "fcl/export.h" | ||
|
|
||
| namespace fcl | ||
| { | ||
|
|
||
| namespace detail { | ||
|
|
||
| /// @brief A class solves polynomial degree (1,2,3) equations | ||
| template <typename S> | ||
| class PolySolver | ||
| { | ||
| public: | ||
| /// @brief Solve a linear equation with coefficients c, return roots s and number of roots | ||
| static int solveLinear(S c[2], S s[1]); | ||
|
|
||
| /// @brief Solve a quadratic function with coefficients c, return roots s and number of roots | ||
| static int solveQuadric(S c[3], S s[2]); | ||
|
|
||
| /// @brief Solve a cubic function with coefficients c, return roots s and number of roots | ||
| static int solveCubic(S c[4], S s[3]); | ||
|
|
||
| private: | ||
| /// @brief Check whether v is zero | ||
| static bool isZero(S v); | ||
|
|
||
| /// @brief Compute v^{1/3} | ||
| static bool cbrt(S v); | ||
|
|
||
| static constexpr S getNearZeroThreshold(); | ||
| }; | ||
|
|
||
| using PolySolverf = PolySolver<float>; | ||
| using PolySolverd = PolySolver<double>; | ||
|
|
||
| } // namespace detail | ||
| } // namespace fcl | ||
|
|
||
| #include "fcl/math/detail/polysolver-inl.h" | ||
|
|
||
| #endif |
Oops, something went wrong.