fcl::CollisionTraversalNodeBase Class Reference

Node structure encoding the information required for collision traversal. More...

#include <hpp/fcl/traversal/traversal_node_base.h>

Inheritance diagram for fcl::CollisionTraversalNodeBase:

Collaboration diagram for fcl::CollisionTraversalNodeBase:

Public Member Functions
	CollisionTraversalNodeBase (bool enable_distance_lower_bound_=false)
virtual	~CollisionTraversalNodeBase ()
virtual bool	BVTesting (int b1, int b2) const =0
	BV test between b1 and b2. More...
virtual bool	BVTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const =0
	BV test between b1 and b2. More...
virtual void	leafTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const
	Leaf test between node b1 and b2, if they are both leafs. More...
virtual bool	canStop () const
	Check whether the traversal can stop. More...
void	enableStatistics (bool enable)
	Whether store some statistics information during traversal. More...
Public Member Functions inherited from fcl::TraversalNodeBase
virtual	~TraversalNodeBase ()
virtual void	preprocess ()
virtual void	postprocess ()
virtual bool	isFirstNodeLeaf (int b) const
	Whether b is a leaf node in the first BVH tree. More...
virtual bool	isSecondNodeLeaf (int b) const
	Whether b is a leaf node in the second BVH tree. More...
virtual bool	firstOverSecond (int b1, int b2) const
	Traverse the subtree of the node in the first tree first. More...
virtual int	getFirstLeftChild (int b) const
	Get the left child of the node b in the first tree. More...
virtual int	getFirstRightChild (int b) const
	Get the right child of the node b in the first tree. More...
virtual int	getSecondLeftChild (int b) const
	Get the left child of the node b in the second tree. More...
virtual int	getSecondRightChild (int b) const
	Get the right child of the node b in the second tree. More...

Public Attributes
CollisionRequest	request
	request setting for collision More...
CollisionResult *	result
	collision result kept during the traversal iteration More...
bool	enable_statistics
	Whether stores statistics. More...
bool	enable_distance_lower_bound
	Whether to compute a lower bound on distance between bounding volumes. More...
Public Attributes inherited from fcl::TraversalNodeBase
Transform3f	tf1
	configuation of first object More...
Transform3f	tf2
	configuration of second object More...

Detailed Description

Node structure encoding the information required for collision traversal.

Constructor & Destructor Documentation

fcl::CollisionTraversalNodeBase::CollisionTraversalNodeBase ( bool  enable_distance_lower_bound_ = false )

inline

virtual fcl::CollisionTraversalNodeBase::~CollisionTraversalNodeBase ( )

virtual

Member Function Documentation

virtual bool fcl::CollisionTraversalNodeBase::BVTesting ( int  b1, int  b2  ) const

pure virtual

BV test between b1 and b2.

Implemented in fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >, fcl::ShapeOcTreeCollisionTraversalNode< S, NarrowPhaseSolver >, fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >, fcl::MeshCollisionTraversalNodeOBBRSS, fcl::MeshCollisionTraversalNodekIOS, fcl::MeshCollisionTraversalNodeRSS, fcl::MeshCollisionTraversalNodeOBB, fcl::ShapeBVHCollisionTraversalNode< S, BV >, fcl::ShapeBVHCollisionTraversalNode< S, OBB >, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, RSS >, fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, fcl::BVHCollisionTraversalNode< OBBRSS >, fcl::BVHShapeCollisionTraversalNode< BV, S >, fcl::BVHShapeCollisionTraversalNode< OBB, S >, fcl::BVHShapeCollisionTraversalNode< kIOS, S >, fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, fcl::BVHShapeCollisionTraversalNode< RSS, S >, and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >.

virtual bool fcl::CollisionTraversalNodeBase::BVTesting ( int  b1, int  b2, FCL_REAL &  sqrDistLowerBound  ) const

pure virtual

BV test between b1 and b2.

Parameters

b1,b2

Bounding volumes to test,

Return values

sqrDistLowerBound

square of a lower bound of the minimal distance between bounding volumes.

Implemented in fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::MeshCollisionTraversalNodeOBBRSS, fcl::ShapeBVHCollisionTraversalNode< S, BV >, fcl::ShapeBVHCollisionTraversalNode< S, OBB >, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, RSS >, fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, fcl::BVHCollisionTraversalNode< OBBRSS >, fcl::BVHShapeCollisionTraversalNode< BV, S >, fcl::BVHShapeCollisionTraversalNode< OBB, S >, fcl::BVHShapeCollisionTraversalNode< kIOS, S >, fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, fcl::BVHShapeCollisionTraversalNode< RSS, S >, and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >.

virtual bool fcl::CollisionTraversalNodeBase::canStop ( ) const

virtual

Check whether the traversal can stop.

Reimplemented in fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNode< S, RSS, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNode< S, OBBRSS, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >, fcl::MeshContinuousCollisionTraversalNode< BV >, fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNode< OBB, S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNode< RSS, S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >, fcl::MeshCollisionTraversalNode< BV >, fcl::MeshCollisionTraversalNode< OBB >, fcl::MeshCollisionTraversalNode< kIOS >, fcl::MeshCollisionTraversalNode< RSS >, and fcl::MeshCollisionTraversalNode< OBBRSS >.

void fcl::CollisionTraversalNodeBase::enableStatistics ( bool  enable )

inlinevirtual

Whether store some statistics information during traversal.

Implements fcl::TraversalNodeBase.

References enable_statistics.

virtual void fcl::CollisionTraversalNodeBase::leafTesting ( int  b1, int  b2, FCL_REAL &  sqrDistLowerBound  ) const

inlinevirtual

Leaf test between node b1 and b2, if they are both leafs.

Reimplemented in fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >, fcl::ShapeOcTreeCollisionTraversalNode< S, NarrowPhaseSolver >, fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >, fcl::MeshContinuousCollisionTraversalNode< BV >, fcl::MeshCollisionTraversalNodeOBBRSS, fcl::MeshCollisionTraversalNodekIOS, fcl::MeshCollisionTraversalNodeRSS, fcl::MeshCollisionTraversalNodeOBB, fcl::MeshCollisionTraversalNode< BV >, fcl::MeshCollisionTraversalNode< OBB >, fcl::MeshCollisionTraversalNode< kIOS >, fcl::MeshCollisionTraversalNode< RSS >, fcl::MeshCollisionTraversalNode< OBBRSS >, and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >.

Member Data Documentation

bool fcl::CollisionTraversalNodeBase::enable_distance_lower_bound

Whether to compute a lower bound on distance between bounding volumes.

bool fcl::CollisionTraversalNodeBase::enable_statistics

Whether stores statistics.

Referenced by fcl::BVHShapeCollisionTraversalNode< RSS, S >::BVTesting(), fcl::BVHCollisionTraversalNode< OBBRSS >::BVTesting(), fcl::ShapeBVHCollisionTraversalNode< S, kIOS >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), enableStatistics(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting().

CollisionRequest fcl::CollisionTraversalNodeBase::request

request setting for collision

Referenced by fcl::MeshCollisionTraversalNode< OBBRSS >::canStop(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::MeshContinuousCollisionTraversalNode< BV >::canStop(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::canStop(), fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::leafTesting(), fcl::ShapeOcTreeCollisionTraversalNode< S, NarrowPhaseSolver >::leafTesting(), fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::leafTesting(), and fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::leafTesting().

CollisionResult* fcl::CollisionTraversalNodeBase::result

collision result kept during the traversal iteration

Referenced by fcl::MeshCollisionTraversalNode< OBBRSS >::canStop(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::canStop(), fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::leafTesting(), fcl::ShapeOcTreeCollisionTraversalNode< S, NarrowPhaseSolver >::leafTesting(), fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::leafTesting(), and fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::leafTesting().