Traversal node for octree distance. More...
#include <hpp/fcl/traversal/traversal_node_octree.h>
Public Member Functions | |
| OcTreeDistanceTraversalNode () | |
| FCL_REAL | BVTesting (int, int) const |
| BV test between b1 and b2. More... | |
| void | leafTesting (int, int) const |
| Leaf test between node b1 and b2, if they are both leafs. More... | |
 Public Member Functions inherited from fcl::DistanceTraversalNodeBase | |
| DistanceTraversalNodeBase () | |
| virtual | ~DistanceTraversalNodeBase () |
| virtual bool | canStop (FCL_REAL c) 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 | |
| const OcTree * | model1 |
| const OcTree * | model2 |
| const OcTreeSolver < NarrowPhaseSolver > * | otsolver |
| 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... | |
Traversal node for octree distance.
|
inline |
|
inlinevirtual |
BV test between b1 and b2.
Reimplemented from fcl::DistanceTraversalNodeBase.
|
inlinevirtual |
Leaf test between node b1 and b2, if they are both leafs.
Implements fcl::DistanceTraversalNodeBase.
References fcl::OcTreeDistanceTraversalNode< NarrowPhaseSolver >::model1, fcl::OcTreeDistanceTraversalNode< NarrowPhaseSolver >::model2, fcl::OcTreeDistanceTraversalNode< NarrowPhaseSolver >::otsolver, fcl::DistanceTraversalNodeBase::request, and fcl::DistanceTraversalNodeBase::result.
| const OcTree* fcl::OcTreeDistanceTraversalNode< NarrowPhaseSolver >::model1 |
| const OcTree* fcl::OcTreeDistanceTraversalNode< NarrowPhaseSolver >::model2 |
| const OcTreeSolver<NarrowPhaseSolver>* fcl::OcTreeDistanceTraversalNode< NarrowPhaseSolver >::otsolver |
