#include <hpp/fcl/traversal/traversal_node_shapes.h>
Public Member Functions | |
| ShapeConservativeAdvancementTraversalNode () | |
| void | leafTesting (int, int) const |
| Distance testing between leaves (two shapes) More... | |
 Public Member Functions inherited from fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > | |
| ShapeDistanceTraversalNode () | |
| FCL_REAL | BVTesting (int, int) const |
| BV culling test in one BVTT node. 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 | |
| FCL_REAL | min_distance |
| 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 |
| RSS | model1_bv |
| RSS | model2_bv |
| Public Attributes inherited from fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > | |
| const S1 * | model1 |
| const S2 * | model2 |
| const NarrowPhaseSolver * | nsolver |
| 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... | |
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inline |
References fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::delta_t, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::motion1, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::motion2, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::t_err, and fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::toc.
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inlinevirtual |
Distance testing between leaves (two shapes)
Reimplemented from fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >.
References fcl::bound(), fcl::MotionBase::computeMotionBound(), fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::delta_t, fcl::distance(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::model1_bv, fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::model2_bv, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::motion1, fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::motion2, fcl::Vec3fX< T >::normalize(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, and fcl::Transform3f::transform().
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mutable |
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mutable |
| RSS fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::model1_bv |
| RSS fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::model2_bv |
| const MotionBase* fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::motion1 |
Motions for the two objects in query.
Referenced by fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeConservativeAdvancementTraversalNode().
| const MotionBase* fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::motion2 |
| FCL_REAL fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::t_err |
| FCL_REAL fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::toc |
The time from beginning point.
Referenced by fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeConservativeAdvancementTraversalNode().
