12#include <../src/collision_node.h>
20template <
typename TypeA,
typename TypeB>
23#ifdef COAL_HAS_OCTOMAP
25template <
typename T_SH>
27 typedef ShapeOcTreeCollisionTraversalNode<T_SH> CollisionTraversal_t;
30template <
typename T_SH>
31struct COAL_LOCAL TraversalTraitsCollision<OcTree, T_SH> {
32 typedef OcTreeShapeCollisionTraversalNode<T_SH> CollisionTraversal_t;
36struct COAL_LOCAL TraversalTraitsCollision<OcTree, OcTree> {
37 typedef OcTreeCollisionTraversalNode CollisionTraversal_t;
40template <
typename T_BVH>
41struct COAL_LOCAL TraversalTraitsCollision<OcTree, BVHModel<T_BVH> > {
42 typedef OcTreeMeshCollisionTraversalNode<T_BVH> CollisionTraversal_t;
45template <
typename T_BVH>
46struct COAL_LOCAL TraversalTraitsCollision<BVHModel<T_BVH>, OcTree> {
47 typedef MeshOcTreeCollisionTraversalNode<T_BVH> CollisionTraversal_t;
50template <
typename T_HF>
51struct COAL_LOCAL TraversalTraitsCollision<OcTree, HeightField<T_HF> > {
52 typedef OcTreeHeightFieldCollisionTraversalNode<T_HF> CollisionTraversal_t;
55template <
typename T_HF>
56struct COAL_LOCAL TraversalTraitsCollision<HeightField<T_HF>, OcTree> {
57 typedef HeightFieldOcTreeCollisionTraversalNode<T_HF> CollisionTraversal_t;
64template <
typename TypeA,
typename TypeB>
67#ifdef COAL_HAS_OCTOMAP
69template <
typename T_SH>
71 typedef ShapeOcTreeDistanceTraversalNode<T_SH> CollisionTraversal_t;
74template <
typename T_SH>
75struct COAL_LOCAL TraversalTraitsDistance<OcTree, T_SH> {
76 typedef OcTreeShapeDistanceTraversalNode<T_SH> CollisionTraversal_t;
80struct COAL_LOCAL TraversalTraitsDistance<OcTree, OcTree> {
81 typedef OcTreeDistanceTraversalNode CollisionTraversal_t;
84template <
typename T_BVH>
85struct COAL_LOCAL TraversalTraitsDistance<OcTree, BVHModel<T_BVH> > {
86 typedef OcTreeMeshDistanceTraversalNode<T_BVH> CollisionTraversal_t;
89template <
typename T_BVH>
90struct COAL_LOCAL TraversalTraitsDistance<BVHModel<T_BVH>, OcTree> {
91 typedef MeshOcTreeDistanceTraversalNode<T_BVH> CollisionTraversal_t;
Octree is one type of collision geometry which can encode uncertainty information in the sensor data.
Definition octree.h:53
#define COAL_LOCAL
Definition config.hh:92
Main namespace.
Definition broadphase_bruteforce.h:44
Definition traits_traversal.h:21
Definition traits_traversal.h:65