continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration More...
#include <hpp/fcl/traversal/traversal_node_bvhs.h>
Public Member Functions | |
| MeshConservativeAdvancementTraversalNode (FCL_REAL w_=1) | |
| FCL_REAL | BVTesting (int b1, int b2) const |
| BV culling test in one BVTT node. More... | |
| void | leafTesting (int b1, int b2) const |
| Conservative advancement testing between leaves (two triangles) More... | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. More... | |
| template<> | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. More... | |
| template<> | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. More... | |
| template<> | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. More... | |
 Public Member Functions inherited from fcl::MeshDistanceTraversalNode< BV > | |
| MeshDistanceTraversalNode () | |
| Public Member Functions inherited from fcl::BVHDistanceTraversalNode< BV > | |
| BVHDistanceTraversalNode () | |
| bool | isFirstNodeLeaf (int b) const |
| Whether the BV node in the first BVH tree is leaf. More... | |
| bool | isSecondNodeLeaf (int b) const |
| Whether the BV node in the second BVH tree is leaf. More... | |
| bool | firstOverSecond (int b1, int b2) const |
| Determine the traversal order, is the first BVTT subtree better. More... | |
| int | getFirstLeftChild (int b) const |
| Obtain the left child of BV node in the first BVH. More... | |
| int | getFirstRightChild (int b) const |
| Obtain the right child of BV node in the first BVH. More... | |
| int | getSecondLeftChild (int b) const |
| Obtain the left child of BV node in the second BVH. More... | |
| int | getSecondRightChild (int b) const |
| Obtain the right child of BV node in the second BVH. More... | |
| Public Member Functions inherited from fcl::DistanceTraversalNodeBase | |
| DistanceTraversalNodeBase () | |
| virtual | ~DistanceTraversalNodeBase () |
| 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 () |
Public Attributes | |
| FCL_REAL | min_distance |
| Vec3f | closest_p1 |
| Vec3f | closest_p2 |
| int | last_tri_id1 |
| int | last_tri_id2 |
| FCL_REAL | w |
| CA controlling variable: early stop for the early iterations of CA. More... | |
| FCL_REAL | toc |
| The time from beginning point. More... | |
| FCL_REAL | t_err |
| FCL_REAL | delta_t |
| The delta_t each step. More... | |
| const MotionBase * | motion1 |
| Motions for the two objects in query. More... | |
| const MotionBase * | motion2 |
| std::vector < ConservativeAdvancementStackData > | stack |
| Public Attributes inherited from fcl::MeshDistanceTraversalNode< BV > | |
| Vec3f * | vertices1 |
| Vec3f * | vertices2 |
| Triangle * | tri_indices1 |
| Triangle * | tri_indices2 |
| FCL_REAL | rel_err |
| relative and absolute error, default value is 0.01 for both terms More... | |
| FCL_REAL | abs_err |
| Public Attributes inherited from fcl::BVHDistanceTraversalNode< BV > | |
| const BVHModel< BV > * | model1 |
| The first BVH model. More... | |
| const BVHModel< BV > * | model2 |
| The second BVH model. More... | |
| int | num_bv_tests |
| statistical information More... | |
| int | num_leaf_tests |
| FCL_REAL | query_time_seconds |
| Public Attributes inherited from fcl::DistanceTraversalNodeBase | |
| DistanceRequest | request |
| request setting for distance More... | |
| DistanceResult * | result |
| distance result kept during the traversal iteration More... | |
| bool | enable_statistics |
| Whether stores statistics. More... | |
| Public Attributes inherited from fcl::TraversalNodeBase | |
| Transform3f | tf1 |
| configuation of first object More... | |
| Transform3f | tf2 |
| configuration of second object More... | |
continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
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inline |
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inlinevirtual |
BV culling test in one BVTT node.
Reimplemented from fcl::BVHDistanceTraversalNode< BV >.
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inlinevirtual |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
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inlinevirtual |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().
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inlinevirtual |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().
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inlinevirtual |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().
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inlinevirtual |
Conservative advancement testing between leaves (two triangles)
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
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mutable |
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mutable |
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mutable |
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mutable |
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mutable |
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mutable |
| const MotionBase* fcl::MeshConservativeAdvancementTraversalNode< BV >::motion1 |
Motions for the two objects in query.
Referenced by fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop(), fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::leafTesting(), and fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::MeshConservativeAdvancementTraversalNode().
| const MotionBase* fcl::MeshConservativeAdvancementTraversalNode< BV >::motion2 |
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mutable |
| FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::t_err |
| FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::toc |
The time from beginning point.
Referenced by fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::MeshConservativeAdvancementTraversalNode().
| FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::w |
CA controlling variable: early stop for the early iterations of CA.
Referenced by fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop(), fcl::initialize(), and fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::MeshConservativeAdvancementTraversalNode().
