text: /*
   * 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,
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   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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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_H
  #define FCL_CCD_INTERVAL_H
  
  #include <iostream>
  #include "fcl/common/types.h"
  
  namespace fcl
  {
  
  /// @brief Interval class for [a, b]
  template <typename S>
  struct FCL_EXPORT Interval
  {
    S i_[2];
  
    Interval();
  
    explicit Interval(S v);
  
    /// @brief construct interval [left, right]
    Interval(S left, S right);
  
    /// @brief construct interval [left, right]
    void setValue(S a, S b);
  
    /// @brief construct zero interval [x, x]
    void setValue(S x);
  
    /// @brief access the interval endpoints: 0 for left, 1 for right end
    S operator [] (size_t i) const;
  
    /// @brief access the interval endpoints: 0 for left, 1 for right end
    S& operator [] (size_t i);
  
    /// @brief whether two intervals are the same
    bool operator == (const Interval& other) const;
  
    /// @brief add two intervals
    Interval operator + (const Interval& other) const;
  
    /// @brief minus another interval
    Interval operator - (const Interval& other) const;
  
    Interval& operator += (const Interval& other);
  
    Interval& operator -= (const Interval& other);
  
    Interval operator * (const Interval& other) const;
  
    Interval& operator *= (const Interval& other);
  
    Interval operator * (S d) const;
  
    Interval& operator *= (S d);
  
    /// @brief other must not contain 0
    Interval operator / (const Interval& other) const;
  
    Interval& operator /= (const Interval& other);
  
    /// @brief determine whether the intersection between intervals is empty
    bool overlap(const Interval& other) const;
  
    bool intersect(const Interval& other);
  
    Interval operator - () const;
  
    /// @brief Return the nearest distance for points within the interval to zero
    S getAbsLower() const;
  
    /// @brief Return the farthest distance for points within the interval to zero
    S getAbsUpper() const;
  
    bool contains(S v) const;
  
    /// @brief Compute the minimum interval contains v and original interval
    Interval& bound(S v);
  
    /// @brief Compute the minimum interval contains other and original interval
    Interval& bound(const Interval& other);
  
    void print() const;
  
    S center() const;
  
    S diameter() const;
  };
  
  template <typename S>
  FCL_EXPORT
  Interval<S> bound(const Interval<S>& i, S v);
  
  template <typename S>
  FCL_EXPORT
  Interval<S> bound(const Interval<S>& i, const Interval<S>& other);
  
  } // namespace fcl
  
  #include "fcl/math/motion/taylor_model/interval-inl.h"
  
  #endif
  