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fcl::TraversalNodeBase Class Referenceabstract

Node structure encoding the information required for traversal. More...

#include <hpp/fcl/traversal/traversal_node_base.h>

Inheritance diagram for fcl::TraversalNodeBase:
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Collaboration diagram for fcl::TraversalNodeBase:
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Public Member Functions

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...
 
virtual void enableStatistics (bool enable)=0
 Enable statistics (verbose mode) More...
 

Public Attributes

Transform3f tf1
 configuation of first object More...
 
Transform3f tf2
 configuration of second object More...
 

Detailed Description

Node structure encoding the information required for traversal.

Constructor & Destructor Documentation

virtual fcl::TraversalNodeBase::~TraversalNodeBase ( )
virtual

Member Function Documentation

virtual void fcl::TraversalNodeBase::enableStatistics ( bool  enable)
pure virtual

Enable statistics (verbose mode)

Implemented in fcl::DistanceTraversalNodeBase, and fcl::CollisionTraversalNodeBase.

virtual bool fcl::TraversalNodeBase::firstOverSecond ( int  b1,
int  b2 
) const
virtual

Traverse the subtree of the node in the first tree first.

Reimplemented in fcl::BVHDistanceTraversalNode< BV >, fcl::BVHDistanceTraversalNode< kIOS >, fcl::BVHDistanceTraversalNode< RSS >, fcl::BVHDistanceTraversalNode< OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, BV >, fcl::ShapeBVHCollisionTraversalNode< S, OBB >, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, RSS >, fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, and fcl::BVHCollisionTraversalNode< OBBRSS >.

virtual int fcl::TraversalNodeBase::getFirstLeftChild ( int  b) const
virtual

Get the left child of the node b in the first tree.

Reimplemented in fcl::BVHShapeDistanceTraversalNode< BV, S >, fcl::BVHShapeDistanceTraversalNode< kIOS, S >, fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >, fcl::BVHShapeDistanceTraversalNode< RSS, S >, fcl::BVHDistanceTraversalNode< BV >, fcl::BVHDistanceTraversalNode< kIOS >, fcl::BVHDistanceTraversalNode< RSS >, fcl::BVHDistanceTraversalNode< OBBRSS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, fcl::BVHCollisionTraversalNode< OBBRSS >, fcl::BVHShapeCollisionTraversalNode< BV, S >, fcl::BVHShapeCollisionTraversalNode< OBB, S >, fcl::BVHShapeCollisionTraversalNode< kIOS, S >, fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, and fcl::BVHShapeCollisionTraversalNode< RSS, S >.

virtual int fcl::TraversalNodeBase::getFirstRightChild ( int  b) const
virtual

Get the right child of the node b in the first tree.

Reimplemented in fcl::BVHShapeDistanceTraversalNode< BV, S >, fcl::BVHShapeDistanceTraversalNode< kIOS, S >, fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >, fcl::BVHShapeDistanceTraversalNode< RSS, S >, fcl::BVHDistanceTraversalNode< BV >, fcl::BVHDistanceTraversalNode< kIOS >, fcl::BVHDistanceTraversalNode< RSS >, fcl::BVHDistanceTraversalNode< OBBRSS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, fcl::BVHCollisionTraversalNode< OBBRSS >, fcl::BVHShapeCollisionTraversalNode< BV, S >, fcl::BVHShapeCollisionTraversalNode< OBB, S >, fcl::BVHShapeCollisionTraversalNode< kIOS, S >, fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, and fcl::BVHShapeCollisionTraversalNode< RSS, S >.

virtual int fcl::TraversalNodeBase::getSecondLeftChild ( int  b) const
virtual

Get the left child of the node b in the second tree.

Reimplemented in fcl::ShapeBVHDistanceTraversalNode< S, BV >, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >, fcl::ShapeBVHDistanceTraversalNode< S, kIOS >, fcl::ShapeBVHDistanceTraversalNode< S, RSS >, fcl::BVHDistanceTraversalNode< BV >, fcl::BVHDistanceTraversalNode< kIOS >, fcl::BVHDistanceTraversalNode< RSS >, fcl::BVHDistanceTraversalNode< OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, BV >, fcl::ShapeBVHCollisionTraversalNode< S, OBB >, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, RSS >, fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, and fcl::BVHCollisionTraversalNode< OBBRSS >.

virtual int fcl::TraversalNodeBase::getSecondRightChild ( int  b) const
virtual

Get the right child of the node b in the second tree.

Reimplemented in fcl::ShapeBVHDistanceTraversalNode< S, BV >, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >, fcl::ShapeBVHDistanceTraversalNode< S, kIOS >, fcl::ShapeBVHDistanceTraversalNode< S, RSS >, fcl::BVHDistanceTraversalNode< BV >, fcl::BVHDistanceTraversalNode< kIOS >, fcl::BVHDistanceTraversalNode< RSS >, fcl::BVHDistanceTraversalNode< OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, BV >, fcl::ShapeBVHCollisionTraversalNode< S, OBB >, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, RSS >, fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, and fcl::BVHCollisionTraversalNode< OBBRSS >.

virtual bool fcl::TraversalNodeBase::isFirstNodeLeaf ( int  b) const
virtual

Whether b is a leaf node in the first BVH tree.

Reimplemented in fcl::BVHShapeDistanceTraversalNode< BV, S >, fcl::BVHShapeDistanceTraversalNode< kIOS, S >, fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >, fcl::BVHShapeDistanceTraversalNode< RSS, S >, fcl::BVHDistanceTraversalNode< BV >, fcl::BVHDistanceTraversalNode< kIOS >, fcl::BVHDistanceTraversalNode< RSS >, fcl::BVHDistanceTraversalNode< OBBRSS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, fcl::BVHCollisionTraversalNode< OBBRSS >, fcl::BVHShapeCollisionTraversalNode< BV, S >, fcl::BVHShapeCollisionTraversalNode< OBB, S >, fcl::BVHShapeCollisionTraversalNode< kIOS, S >, fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, and fcl::BVHShapeCollisionTraversalNode< RSS, S >.

virtual bool fcl::TraversalNodeBase::isSecondNodeLeaf ( int  b) const
virtual

Whether b is a leaf node in the second BVH tree.

Reimplemented in fcl::ShapeBVHDistanceTraversalNode< S, BV >, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >, fcl::ShapeBVHDistanceTraversalNode< S, kIOS >, fcl::ShapeBVHDistanceTraversalNode< S, RSS >, fcl::BVHDistanceTraversalNode< BV >, fcl::BVHDistanceTraversalNode< kIOS >, fcl::BVHDistanceTraversalNode< RSS >, fcl::BVHDistanceTraversalNode< OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, BV >, fcl::ShapeBVHCollisionTraversalNode< S, OBB >, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, fcl::ShapeBVHCollisionTraversalNode< S, RSS >, fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, fcl::BVHCollisionTraversalNode< BV >, fcl::BVHCollisionTraversalNode< OBB >, fcl::BVHCollisionTraversalNode< kIOS >, fcl::BVHCollisionTraversalNode< RSS >, and fcl::BVHCollisionTraversalNode< OBBRSS >.

virtual void fcl::TraversalNodeBase::postprocess ( )
inlinevirtual

Reimplemented in fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::MeshDistanceTraversalNodeOBBRSS, fcl::MeshDistanceTraversalNodekIOS, and fcl::MeshDistanceTraversalNodeRSS.

virtual void fcl::TraversalNodeBase::preprocess ( )
inlinevirtual

Reimplemented in fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, fcl::MeshDistanceTraversalNodeOBBRSS, fcl::MeshDistanceTraversalNodekIOS, and fcl::MeshDistanceTraversalNodeRSS.

Member Data Documentation

Transform3f fcl::TraversalNodeBase::tf1

configuation of first object

Referenced by fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting().

Transform3f fcl::TraversalNodeBase::tf2

configuration of second object

Referenced by fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeConservativeAdvancementTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), and fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting().