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  /* Author: Martin Pecka */
  
  #include <moveit/robot_model/aabb.h>
  
  void moveit::core::AABB::extendWithTransformedBox(const Eigen::Affine3d& transform, const Eigen::Vector3d& box)
  {
    // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) (BSD-licensed code):
    // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
    // We don't call their code because it would need creating temporary objects, and their method is in floats.
    //
    // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
  
    const Eigen::Matrix3d& R = transform.linear();
    const Eigen::Vector3d& T = transform.translation();
  
    double x_range = 0.5 * (fabs(R(0, 0) * box[0]) + fabs(R(0, 1) * box[1]) + fabs(R(0, 2) * box[2]));
    double y_range = 0.5 * (fabs(R(1, 0) * box[0]) + fabs(R(1, 1) * box[1]) + fabs(R(1, 2) * box[2]));
    double z_range = 0.5 * (fabs(R(2, 0) * box[0]) + fabs(R(2, 1) * box[1]) + fabs(R(2, 2) * box[2]));
  
    const Eigen::Vector3d v_delta(x_range, y_range, z_range);
    extend(T + v_delta);
    extend(T - v_delta);
  }
  