#include <hpp/fcl/serialization/octree.h>

Inheritance diagram for boost::serialization::internal::OcTreeAccessor:

Collaboration diagram for boost::serialization::internal::OcTreeAccessor:

[legend]

Public Types
typedef hpp::fcl::OcTree	Base

Public Types inherited from hpp::fcl::OcTree
typedef octomap::OcTreeNode	OcTreeNode

Public Attributes
FCL_REAL	default_occupancy

FCL_REAL	free_threshold

FCL_REAL	occupancy_threshold

shared_ptr< const octomap::OcTree >	tree

Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f	aabb_center
	AABB center in local coordinate. More...

FCL_REAL	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...

FCL_REAL	cost_density
	collision cost for unit volume More...

FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied) More...

FCL_REAL	threshold_free
	threshold for free (<= is free) More...

Additional Inherited Members
Public Member Functions inherited from hpp::fcl::OcTree
	OcTree (FCL_REAL resolution)
	construct octree with a given resolution More...

	OcTree (const shared_ptr< const octomap::OcTree > &tree_)
	construct octree from octomap More...

	OcTree (const OcTree &other)
	More...

OcTree *	clone () const
	Clone *this into a new Octree. More...

shared_ptr< const octomap::OcTree >	getTree () const
	Returns the tree associated to the underlying octomap OcTree. More...

void	exportAsObjFile (const std::string &filename) const

void	computeLocalAABB ()
	compute the AABB for the octree in its local coordinate system More...

AABB	getRootBV () const
	get the bounding volume for the root More...

unsigned int	getTreeDepth () const
	Returns the depth of the octree. More...

unsigned long	size () const
	Returns the size of the octree. More...

FCL_REAL	getResolution () const
	Returns the resolution of the octree. More...

OcTreeNode *	getRoot () const
	get the root node of the octree More...

bool	isNodeOccupied (const OcTreeNode *node) const
	whether one node is completely occupied More...

bool	isNodeFree (const OcTreeNode *node) const
	whether one node is completely free More...

bool	isNodeUncertain (const OcTreeNode *node) const
	whether one node is uncertain More...

std::vector< Vec6f >	toBoxes () const
	transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough). More...

std::vector< uint8_t >	tobytes () const
	Returns a byte description of *this. More...

FCL_REAL	getOccupancyThres () const
	the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold More...

FCL_REAL	getFreeThres () const
	the threshold used to decide whether one node is free, this is NOT the octree free_threshold More...

FCL_REAL	getDefaultOccupancy () const

void	setCellDefaultOccupancy (FCL_REAL d)

void	setOccupancyThres (FCL_REAL d)

void	setFreeThres (FCL_REAL d)

OcTreeNode *	getNodeChild (OcTreeNode *node, unsigned int childIdx)

const OcTreeNode *	getNodeChild (const OcTreeNode *node, unsigned int childIdx) const

bool	nodeChildExists (const OcTreeNode *node, unsigned int childIdx) const
	return true if the child at childIdx exists More...

bool	nodeHasChildren (const OcTreeNode *node) const
	return true if node has at least one child More...

OBJECT_TYPE	getObjectType () const
	return object type, it is an octree More...

NODE_TYPE	getNodeType () const
	return node type, it is an octree More...

Public Member Functions inherited from hpp::fcl::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 Vec3f	computeCOM () const
	compute center of mass More...

virtual Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

virtual FCL_REAL	computeVolume () const
	compute the volume More...

virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Protected Attributes inherited from hpp::fcl::OcTree
shared_ptr< const octomap::OcTree >	tree

FCL_REAL	default_occupancy

FCL_REAL	occupancy_threshold

FCL_REAL	free_threshold

Member Typedef Documentation

◆ Base

typedef hpp::fcl::OcTree boost::serialization::internal::OcTreeAccessor::Base

Member Data Documentation

◆ default_occupancy

FCL_REAL hpp::fcl::OcTree::default_occupancy

◆ free_threshold

FCL_REAL hpp::fcl::OcTree::free_threshold

◆ occupancy_threshold

FCL_REAL hpp::fcl::OcTree::occupancy_threshold

◆ tree

shared_ptr<const octomap::OcTree> hpp::fcl::OcTree::tree

The documentation for this struct was generated from the following file:

include/hpp/fcl/serialization/octree.h

Public Types

Public Attributes