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	SimplexFace
struct	SimplexFaceList
	The simplex list of EPA is a linked list of faces. Note: EPA's linked list does not own any memory. The memory it refers to is contiguous and owned by a std::vector. More...
struct	SimplexHorizon

Public Types
enum	Status {   DidNotRun = -1 , 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	SimplexVertex

Public Member Functions
	EPA (size_t max_iterations_, FCL_REAL tolerance_)
	EPA (const EPA &other)
	Copy constructor of EPA. Mostly needed for the copy constructor of GJKSolver. More...
size_t	getNumMaxIterations () const
	Get the max number of iterations of EPA. More...
size_t	getNumMaxVertices () const
	Get the max number of vertices of EPA. More...
size_t	getNumMaxFaces () const
	Get the max number of faces of EPA. More...
FCL_REAL	getTolerance () const
	Get the tolerance of EPA. More...
size_t	getNumIterations () const
	Get the number of iterations of the last run of EPA. More...
size_t	getNumVertices () const
	Get the number of vertices in the polytope of the last run of EPA. More...
size_t	getNumFaces () const
	Get the number of faces in the polytope of the last run of EPA. More...
void	reset (size_t max_iterations, FCL_REAL tolerance)
	resets the EPA algorithm, preparing it for a new run. It potentially reallocates memory for the vertices and faces if the passed parameters are bigger than the previous ones. This function does not modify the parameters of the EPA algorithm, i.e. the maximum number of iterations and the tolerance. More...
Status	evaluate (GJK &gjk, const Vec3f &guess)
void	getWitnessPointsAndNormal (const MinkowskiDiff &shape, Vec3f &w0, Vec3f &w1, Vec3f &normal) const

Static Public Member Functions
static void	bind (SimplexFace *fa, size_t ea, SimplexFace *fb, size_t eb)
	We bind the face fa along its edge ea to the face fb along its edge fb. More...

Public Attributes
Status	status
GJK::Simplex	result
Vec3f	normal
support_func_guess_t	support_hint
FCL_REAL	depth
SimplexFace *	closest_face

Detailed Description

class for EPA algorithm

Member Typedef Documentation

SimplexVertex

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

Member Enumeration Documentation

Status

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

Enumerator
DidNotRun
Failed
Valid
AccuracyReached
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
FallBack

Constructor & Destructor Documentation

EPA() [1/2]

hpp::fcl::details::EPA::EPA ( size_t  max_iterations_, FCL_REAL  tolerance_  )

inline

EPA() [2/2]

hpp::fcl::details::EPA::EPA ( const EPA &  other )

inline

Copy constructor of EPA. Mostly needed for the copy constructor of GJKSolver.

Member Function Documentation

bind()

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

inlinestatic

We bind the face fa along its edge ea to the face fb along its edge fb.

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

getNumFaces()

size_t hpp::fcl::details::EPA::getNumFaces ( ) const

inline

Get the number of faces in the polytope of the last run of EPA.

getNumIterations()

size_t hpp::fcl::details::EPA::getNumIterations ( ) const

inline

Get the number of iterations of the last run of EPA.

getNumMaxFaces()

size_t hpp::fcl::details::EPA::getNumMaxFaces ( ) const

inline

Get the max number of faces of EPA.

getNumMaxIterations()

size_t hpp::fcl::details::EPA::getNumMaxIterations ( ) const

inline

Get the max number of iterations of EPA.

getNumMaxVertices()

size_t hpp::fcl::details::EPA::getNumMaxVertices ( ) const

inline

Get the max number of vertices of EPA.

getNumVertices()

size_t hpp::fcl::details::EPA::getNumVertices ( ) const

inline

Get the number of vertices in the polytope of the last run of EPA.

getTolerance()

FCL_REAL hpp::fcl::details::EPA::getTolerance ( ) const

inline

Get the tolerance of EPA.

getWitnessPointsAndNormal()

void hpp::fcl::details::EPA::getWitnessPointsAndNormal	(	const MinkowskiDiff &	shape,
		Vec3f &	w0,
		Vec3f &	w1,
		Vec3f &	normal
	)		const

Get the witness points on each object, and the corresponding normal.

Parameters

[in]	shape	is the Minkowski difference of the two shapes.
[out]	w0	is the witness point on shape0.
[out]	w1	is the witness point on shape1.
[in]	normal	is the normal found by EPA. It points from shape0 to shape1. The normal is used to correct the witness points on the shapes if the shapes have a non-zero swept-sphere radius.

reset()

void hpp::fcl::details::EPA::reset	(	size_t	max_iterations,
		FCL_REAL	tolerance
	)

resets the EPA algorithm, preparing it for a new run. It potentially reallocates memory for the vertices and faces if the passed parameters are bigger than the previous ones. This function does not modify the parameters of the EPA algorithm, i.e. the maximum number of iterations and the tolerance.

Note

calling this function destroys the previous state of EPA. In the future, we may want to copy it instead, i.e. when EPA will be (properly) warm-startable.

Member Data Documentation

closest_face

SimplexFace* hpp::fcl::details::EPA::closest_face

depth

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

normal

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

result

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

status

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

support_hint

support_func_guess_t hpp::fcl::details::EPA::support_hint

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

• include/hpp/fcl/narrowphase/gjk.h