hpp::fcl::details::EPA Struct Reference

class for EPA algorithm More...

#include <hpp/fcl/narrowphase/gjk.h>

Collaboration diagram for hpp::fcl::details::EPA:

Classes
struct	SimplexF
struct	SimplexHorizon
struct	SimplexList

Public Types
enum	Status {   Failed = 0,   Valid = 1,   AccuracyReached = 1 << 1 | Valid,   Degenerated = 1 << 1 | Failed,   NonConvex = 2 << 1 | Failed,   InvalidHull = 3 << 1 | Failed,   OutOfFaces = 4 << 1 | Failed,   OutOfVertices = 5 << 1 | Failed,   FallBack = 6 << 1 | Failed }
typedef GJK::SimplexV	SimplexV

Public Member Functions
	EPA (unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_)
	~EPA ()
void	initialize ()
Status	evaluate (GJK &gjk, const Vec3f &guess)
bool	getClosestPoints (const MinkowskiDiff &shape, Vec3f &w0, Vec3f &w1)
	Get the closest points on each object. More...

Static Public Member Functions
static void	bind (SimplexF *fa, size_t ea, SimplexF *fb, size_t eb)

Public Attributes
Status	status
GJK::Simplex	result
Vec3f	normal
FCL_REAL	depth
SimplexV *	sv_store
SimplexF *	fc_store
size_t	nextsv
SimplexList	hull
SimplexList	stock

Detailed Description

class for EPA algorithm

Member Typedef Documentation

SimplexV

typedef GJK::SimplexV hpp::fcl::details::EPA::SimplexV

Member Enumeration Documentation

Status

enum hpp::fcl::details::EPA::Status

Enumerator
Failed
Valid
AccuracyReached
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
FallBack

Constructor & Destructor Documentation

EPA()

hpp::fcl::details::EPA::EPA ( unsigned int  max_face_num_, unsigned int  max_vertex_num_, unsigned int  max_iterations_, FCL_REAL  tolerance_  )

inline

References initialize().

~EPA()

hpp::fcl::details::EPA::~EPA ( )

inline

References initialize().

Member Function Documentation

bind()

static void hpp::fcl::details::EPA::bind ( SimplexF *  fa, size_t  ea, SimplexF *  fb, size_t  eb  )

inlinestatic

References hpp::fcl::details::EPA::SimplexF::e, and hpp::fcl::details::EPA::SimplexF::f.

evaluate()

Status hpp::fcl::details::EPA::evaluate	(	GJK &	gjk,
		const Vec3f &	guess
	)

Returns

a Status which can be demangled using (status & Valid) or (status & Failed). The other values provide a more detailled status

Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().

getClosestPoints()

bool hpp::fcl::details::EPA::getClosestPoints	(	const MinkowskiDiff &	shape,
		Vec3f &	w0,
		Vec3f &	w1
	)

Get the closest points on each object.

Returns

true on success

Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().

initialize()

void hpp::fcl::details::EPA::initialize

(

)

Member Data Documentation

depth

FCL_REAL hpp::fcl::details::EPA::depth

Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().

fc_store

SimplexF* hpp::fcl::details::EPA::fc_store

hull

SimplexList hpp::fcl::details::EPA::hull

nextsv

size_t hpp::fcl::details::EPA::nextsv

normal

Vec3f hpp::fcl::details::EPA::normal

Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().

result

GJK::Simplex hpp::fcl::details::EPA::result

status

Status hpp::fcl::details::EPA::status

stock

SimplexList hpp::fcl::details::EPA::stock

sv_store

SimplexV* hpp::fcl::details::EPA::sv_store