fcl::implementation_array::HierarchyTree< BV > Class Template Reference

Class for hierarchy tree structure. More...

#include <hpp/fcl/broadphase/hierarchy_tree.h>

Collaboration diagram for fcl::implementation_array::HierarchyTree< BV >:

Public Member Functions
	HierarchyTree (int bu_threshold_=16, int topdown_level_=0)
	Create hierarchy tree with suitable setting. More...
	~HierarchyTree ()
void	init (NodeType *leaves, int n_leaves_, int level=0)
	Initialize the tree by a set of leaves using algorithm with a given level. More...
size_t	insert (const BV &bv, void *data)
	Initialize the tree by a set of leaves using algorithm with a given level. More...
void	remove (size_t leaf)
	Remove a leaf node. More...
void	clear ()
	Clear the tree. More...
bool	empty () const
	Whether the tree is empty. More...
void	update (size_t leaf, int lookahead_level=-1)
	update one leaf node More...
bool	update (size_t leaf, const BV &bv)
	update the tree when the bounding volume of a given leaf has changed More...
bool	update (size_t leaf, const BV &bv, const Vec3f &vel, FCL_REAL margin)
	update one leaf's bounding volume, with prediction More...
bool	update (size_t leaf, const BV &bv, const Vec3f &vel)
	update one leaf's bounding volume, with prediction More...
size_t	getMaxHeight () const
	get the max height of the tree More...
size_t	getMaxDepth () const
	get the max depth of the tree More...
void	balanceBottomup ()
	balance the tree from bottom More...
void	balanceTopdown ()
	balance the tree from top More...
void	balanceIncremental (int iterations)
	balance the tree in an incremental way More...
void	refit ()
	refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner More...
void	extractLeaves (size_t root, NodeType *&leaves) const
	extract all the leaves of the tree More...
size_t	size () const
	number of leaves in the tree More...
size_t	getRoot () const
	get the root of the tree More...
NodeType *	getNodes () const
	get the pointer to the nodes array More...
void	print (size_t root, int depth)
	print the tree in a recursive way More...

Public Attributes
int	topdown_level
	decide which topdown algorithm to use More...
int	bu_threshold
	decide the depth to use expensive bottom-up algorithm More...

Static Public Attributes
static const size_t	NULL_NODE = -1

Protected Attributes
size_t	root_node
NodeType *	nodes
size_t	n_nodes
size_t	n_nodes_alloc
size_t	n_leaves
size_t	freelist
unsigned int	opath
int	max_lookahead_level

Detailed Description

template<typename BV>
class fcl::implementation_array::HierarchyTree< BV >

Class for hierarchy tree structure.

Constructor & Destructor Documentation

template<typename BV >

fcl::implementation_array::HierarchyTree< BV >::HierarchyTree	(	int	bu_threshold_ = 16,
		int	topdown_level_ = 0
	)

Create hierarchy tree with suitable setting.

bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower.

References fcl::implementation_array::NodeBase< BV >::next.

template<typename BV >

fcl::implementation_array::HierarchyTree< BV >::~HierarchyTree

(

)

Member Function Documentation

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::balanceBottomup

(

)

balance the tree from bottom

References fcl::implementation_array::NodeBase< BV >::next.

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::balanceIncremental

(

int

iterations

)

balance the tree in an incremental way

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::balanceTopdown

(

)

balance the tree from top

References fcl::implementation_array::NodeBase< BV >::next.

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::clear

(

)

Clear the tree.

References fcl::implementation_array::NodeBase< BV >::next.

template<typename BV >

bool fcl::implementation_array::HierarchyTree< BV >::empty

(

)

const

Whether the tree is empty.

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::extractLeaves	(	size_t	root,
		NodeType *&	leaves
	)		const

extract all the leaves of the tree

template<typename BV >

size_t fcl::implementation_array::HierarchyTree< BV >::getMaxDepth

(

)

const

get the max depth of the tree

template<typename BV >

size_t fcl::implementation_array::HierarchyTree< BV >::getMaxHeight

(

)

const

get the max height of the tree

template<typename BV >

HierarchyTree< BV >::NodeType * fcl::implementation_array::HierarchyTree< BV >::getNodes

(

)

const

get the pointer to the nodes array

template<typename BV >

size_t fcl::implementation_array::HierarchyTree< BV >::getRoot

(

)

const

get the root of the tree

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::init	(	NodeType *	leaves,
		int	n_leaves_,
		int	level = 0
	)

Initialize the tree by a set of leaves using algorithm with a given level.

template<typename BV>

size_t fcl::implementation_array::HierarchyTree< BV >::insert	(	const BV &	bv,
		void *	data
	)

Initialize the tree by a set of leaves using algorithm with a given level.

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::print	(	size_t	root,
		int	depth
	)

print the tree in a recursive way

References fcl::implementation_array::NodeBase< BV >::bv, fcl::implementation_array::NodeBase< BV >::children, and fcl::implementation_array::NodeBase< BV >::isLeaf().

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::refit

(

)

refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::remove

(

size_t

leaf

)

Remove a leaf node.

template<typename BV >

size_t fcl::implementation_array::HierarchyTree< BV >::size

(

)

const

number of leaves in the tree

template<typename BV >

void fcl::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		int	lookahead_level = -1
	)

update one leaf node

template<typename BV>

bool fcl::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		const BV &	bv
	)

update the tree when the bounding volume of a given leaf has changed

template<typename BV>

bool fcl::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		const BV &	bv,
		const Vec3f &	vel,
		FCL_REAL	margin
	)

update one leaf's bounding volume, with prediction

template<typename BV>

bool fcl::implementation_array::HierarchyTree< BV >::update	(	size_t	leaf,
		const BV &	bv,
		const Vec3f &	vel
	)

update one leaf's bounding volume, with prediction

Member Data Documentation

template<typename BV>

int fcl::implementation_array::HierarchyTree< BV >::bu_threshold

decide the depth to use expensive bottom-up algorithm

template<typename BV>

size_t fcl::implementation_array::HierarchyTree< BV >::freelist

protected

template<typename BV>

int fcl::implementation_array::HierarchyTree< BV >::max_lookahead_level

protected

template<typename BV>

size_t fcl::implementation_array::HierarchyTree< BV >::n_leaves

protected

template<typename BV>

size_t fcl::implementation_array::HierarchyTree< BV >::n_nodes

protected

template<typename BV>

size_t fcl::implementation_array::HierarchyTree< BV >::n_nodes_alloc

protected

template<typename BV>

NodeType* fcl::implementation_array::HierarchyTree< BV >::nodes

protected

template<typename BV>

const size_t fcl::implementation_array::HierarchyTree< BV >::NULL_NODE = -1

static

template<typename BV>

unsigned int fcl::implementation_array::HierarchyTree< BV >::opath

protected

template<typename BV>

size_t fcl::implementation_array::HierarchyTree< BV >::root_node

protected

template<typename BV>

int fcl::implementation_array::HierarchyTree< BV >::topdown_level

decide which topdown algorithm to use