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coal
3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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coal
3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
|
#include <coal/serialization/BVH_model.h>
Public Types | |
| typedef coal::BVHModel< BV > | Base |
 Public Types inherited from coal::BVHModel< BV > | |
| using | bv_node_vector_t = std::vector< BVNode< BV >, Eigen::aligned_allocator< BVNode< BV > >> |
Additional Inherited Members | |
| Public Member Functions inherited from coal::BVHModel< BV > | |
| BVHModel () | |
| Default constructor to build an empty BVH. More... | |
| BVHModel (const BVHModel &other) | |
| Copy constructor from another BVH. More... | |
| virtual BVHModel< BV > * | clone () const |
| Clone *this into a new BVHModel. More... | |
| ~BVHModel () | |
| deconstruction, delete mesh data related. More... | |
| const BVNode< BV > & | getBV (unsigned int i) const |
| We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here. More... | |
| BVNode< BV > & | getBV (unsigned int i) |
| Access the bv giving the its index. More... | |
| unsigned int | getNumBVs () const |
| Get the number of bv in the BVH. More... | |
| NODE_TYPE | getNodeType () const |
| Get the BV type: default is unknown. More... | |
| int | memUsage (const bool msg) const |
| Check the number of memory used. More... | |
| void | makeParentRelative () |
| This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent BV node. When traversing the BVH, this can save one matrix transformation. More... | |
| NODE_TYPE | getNodeType () const |
| Specialization of getNodeType() for BVHModel with different BV types. More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| NODE_TYPE | getNodeType () const |
| get the node type More... | |
| Public Member Functions inherited from coal::BVHModelBase | |
| BVHModelType | getModelType () const |
| Model type described by the instance. More... | |
| BVHModelBase () | |
| Constructing an empty BVH. More... | |
| BVHModelBase (const BVHModelBase &other) | |
| copy from another BVH More... | |
| virtual | ~BVHModelBase () |
| deconstruction, delete mesh data related. More... | |
| OBJECT_TYPE | getObjectType () const |
| Get the object type: it is a BVH. More... | |
| void | computeLocalAABB () |
| Compute the AABB for the BVH, used for broad-phase collision. More... | |
| int | beginModel (unsigned int num_tris=0, unsigned int num_vertices=0) |
| Begin a new BVH model. More... | |
| int | addVertex (const Vec3s &p) |
| Add one point in the new BVH model. More... | |
| int | addVertices (const MatrixX3s &points) |
| Add points in the new BVH model. More... | |
| int | addTriangles (const Matrixx3i &triangles) |
| Add triangles in the new BVH model. More... | |
| int | addTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3) |
| Add one triangle in the new BVH model. More... | |
| int | addSubModel (const std::vector< Vec3s > &ps, const std::vector< Triangle > &ts) |
| Add a set of triangles in the new BVH model. More... | |
| int | addSubModel (const std::vector< Vec3s > &ps) |
| Add a set of points in the new BVH model. More... | |
| int | endModel () |
| End BVH model construction, will build the bounding volume hierarchy. More... | |
| int | beginReplaceModel () |
| Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame) More... | |
| int | replaceVertex (const Vec3s &p) |
| Replace one point in the old BVH model. More... | |
| int | replaceTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3) |
| Replace one triangle in the old BVH model. More... | |
| int | replaceSubModel (const std::vector< Vec3s > &ps) |
| Replace a set of points in the old BVH model. More... | |
| int | endReplaceModel (bool refit=true, bool bottomup=true) |
| End BVH model replacement, will also refit or rebuild the bounding volume hierarchy. More... | |
| int | beginUpdateModel () |
| Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame). The current frame will be saved as the previous frame in prev_vertices. More... | |
| int | updateVertex (const Vec3s &p) |
| Update one point in the old BVH model. More... | |
| int | updateTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3) |
| Update one triangle in the old BVH model. More... | |
| int | updateSubModel (const std::vector< Vec3s > &ps) |
| Update a set of points in the old BVH model. More... | |
| int | endUpdateModel (bool refit=true, bool bottomup=true) |
| End BVH model update, will also refit or rebuild the bounding volume hierarchy. More... | |
| void | buildConvexRepresentation (bool share_memory) |
| Build this Convex<Triangle> representation of this model. The result is stored in attribute convex. More... | |
| bool | buildConvexHull (bool keepTriangle, const char *qhullCommand=NULL) |
| Build a convex hull and store it in attribute convex. More... | |
| Vec3s | computeCOM () const |
| compute center of mass More... | |
| Scalar | computeVolume () const |
| compute the volume More... | |
| Matrix3s | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| Public Member Functions inherited from coal::CollisionGeometry | |
| CollisionGeometry () | |
| CollisionGeometry (const CollisionGeometry &other)=default | |
| Copy constructor. More... | |
| virtual | ~CollisionGeometry () |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. More... | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. More... | |
| void * | getUserData () const |
| get user data in geometry More... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| bool | isOccupied () const |
| whether the object is completely occupied More... | |
| bool | isFree () const |
| whether the object is completely free More... | |
| bool | isUncertain () const |
| whether the object has some uncertainty More... | |
| virtual Matrix3s | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
| Public Attributes inherited from coal::BVHModel< BV > | |
| shared_ptr< BVSplitter< BV > > | bv_splitter |
| Split rule to split one BV node into two children. More... | |
| shared_ptr< BVFitter< BV > > | bv_fitter |
| Fitting rule to fit a BV node to a set of geometry primitives. More... | |
| Public Attributes inherited from coal::BVHModelBase | |
| std::shared_ptr< std::vector< Vec3s > > | vertices |
| Geometry point data. More... | |
| std::shared_ptr< std::vector< Triangle > > | tri_indices |
| Geometry triangle index data, will be NULL for point clouds. More... | |
| std::shared_ptr< std::vector< Vec3s > > | prev_vertices |
| Geometry point data in previous frame. More... | |
| unsigned int | num_tris |
| Number of triangles. More... | |
| unsigned int | num_vertices |
| Number of points. More... | |
| BVHBuildState | build_state |
| The state of BVH building process. More... | |
| shared_ptr< ConvexBase > | convex |
| Convex<Triangle> representation of this object. More... | |
| Public Attributes inherited from coal::CollisionGeometry | |
| Vec3s | aabb_center |
| AABB center in local coordinate. More... | |
| Scalar | aabb_radius |
| AABB radius. More... | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
| Scalar | cost_density |
| collision cost for unit volume More... | |
| Scalar | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| Scalar | threshold_free |
| threshold for free (<= is free) More... | |
| Protected Member Functions inherited from coal::BVHModel< BV > | |
| void | deleteBVs () |
| bool | allocateBVs () |
| int | buildTree () |
| Build the bounding volume hierarchy. More... | |
| int | refitTree (bool bottomup) |
| Refit the bounding volume hierarchy. More... | |
| int | refitTree_topdown () |
| Refit the bounding volume hierarchy in a top-down way (slow but more compact) More... | |
| int | refitTree_bottomup () |
| Refit the bounding volume hierarchy in a bottom-up way (fast but less compact) More... | |
| int | recursiveBuildTree (int bv_id, unsigned int first_primitive, unsigned int num_primitives) |
| Recursive kernel for hierarchy construction. More... | |
| int | recursiveRefitTree_bottomup (int bv_id) |
| Recursive kernel for bottomup refitting. More... | |
| void | makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c) |
| void | makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c) |
| void | makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c) |
| void | makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c) |
| Protected Attributes inherited from coal::BVHModel< BV > | |
| unsigned int | num_bvs_allocated |
| std::shared_ptr< std::vector< unsigned int > > | primitive_indices |
| std::shared_ptr< bv_node_vector_t > | bvs |
| Bounding volume hierarchy. More... | |
| unsigned int | num_bvs |
| Number of BV nodes in bounding volume hierarchy. More... | |
| Protected Attributes inherited from coal::BVHModelBase | |
| unsigned int | num_tris_allocated |
| unsigned int | num_vertices_allocated |
| unsigned int | num_vertex_updated |
| typedef coal::BVHModel<BV> boost::serialization::internal::BVHModelAccessor< BV >::Base |
1.9.1 
