#include <hpp/fcl/traversal/traversal_node_bvhs.h>
Public Member Functions | |
| MeshConservativeAdvancementTraversalNodeRSS (FCL_REAL w_=1) | |
| FCL_REAL | BVTesting (int b1, int b2) const |
| BV test between b1 and b2. More... | |
| void | leafTesting (int b1, int b2) const |
| Leaf test between node b1 and b2, if they are both leafs. More... | |
| bool | canStop (FCL_REAL c) const |
| Check whether the traversal can stop. More... | |
 Public Member Functions inherited from fcl::MeshConservativeAdvancementTraversalNode< RSS > | |
| 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... | |
| Public Member Functions inherited from fcl::MeshDistanceTraversalNode< RSS > | |
| MeshDistanceTraversalNode () | |
| Public Member Functions inherited from fcl::BVHDistanceTraversalNode< RSS > | |
| 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 | |
| Matrix3f | R |
| Vec3f | T |
| Public Attributes inherited from fcl::MeshConservativeAdvancementTraversalNode< RSS > | |
| 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< RSS > | |
| 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< RSS > | |
| const BVHModel< RSS > * | model1 |
| The first BVH model. More... | |
| const BVHModel< RSS > * | 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... | |
| fcl::MeshConservativeAdvancementTraversalNodeRSS::MeshConservativeAdvancementTraversalNodeRSS | ( | FCL_REAL | w_ = 1 | ) |
|
virtual |
BV test between b1 and b2.
Reimplemented from fcl::DistanceTraversalNodeBase.
|
virtual |
Check whether the traversal can stop.
Reimplemented from fcl::DistanceTraversalNodeBase.
|
virtual |
Leaf test between node b1 and b2, if they are both leafs.
Implements fcl::DistanceTraversalNodeBase.
| Matrix3f fcl::MeshConservativeAdvancementTraversalNodeRSS::R |
| Vec3f fcl::MeshConservativeAdvancementTraversalNodeRSS::T |
