hpp::fcl::BVHCollisionTraversalNode< BV > Class Template Reference

Traversal node for collision between BVH models. More...

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

Inheritance diagram for hpp::fcl::BVHCollisionTraversalNode< BV >:

Collaboration diagram for hpp::fcl::BVHCollisionTraversalNode< BV >:

Public Member Functions
	BVHCollisionTraversalNode (const CollisionRequest &request)
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 hpp::fcl::CollisionTraversalNodeBase
	CollisionTraversalNodeBase (const CollisionRequest &request_)
virtual	~CollisionTraversalNodeBase ()
virtual bool	BVTesting (int b1, int b2) const =0
	BV test between b1 and b2. More...
virtual bool	BVTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const =0
	BV test between b1 and b2. More...
virtual void	leafTesting (int, int, FCL_REAL &) const
	Leaf test between node b1 and b2, if they are both leafs. More...
virtual bool	canStop () 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 hpp::fcl::TraversalNodeBase
virtual	~TraversalNodeBase ()
virtual void	preprocess ()
virtual void	postprocess ()

Public Attributes
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 hpp::fcl::CollisionTraversalNodeBase
const CollisionRequest &	request
	request setting for collision More...
CollisionResult *	result
	collision result kept during the traversal iteration More...
bool	enable_statistics
	Whether stores statistics. More...
Public Attributes inherited from hpp::fcl::TraversalNodeBase
Transform3f	tf1
	configuation of first object More...
Transform3f	tf2
	configuration of second object More...

Detailed Description

template<typename BV>
class hpp::fcl::BVHCollisionTraversalNode< BV >

Traversal node for collision between BVH models.

Constructor & Destructor Documentation

template<typename BV >

hpp::fcl::BVHCollisionTraversalNode< BV >::BVHCollisionTraversalNode ( const CollisionRequest &  request )

inline

References hpp::fcl::BVHCollisionTraversalNode< BV >::model1, hpp::fcl::BVHCollisionTraversalNode< BV >::model2, hpp::fcl::BVHCollisionTraversalNode< BV >::num_bv_tests, hpp::fcl::BVHCollisionTraversalNode< BV >::num_leaf_tests, and hpp::fcl::BVHCollisionTraversalNode< BV >::query_time_seconds.

Member Function Documentation

template<typename BV >

bool hpp::fcl::BVHCollisionTraversalNode< BV >::firstOverSecond ( int  b1, int  b2  ) const

inlinevirtual

Determine the traversal order, is the first BVTT subtree better.

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHCollisionTraversalNode< BV >::model1, and hpp::fcl::BVHCollisionTraversalNode< BV >::model2.

template<typename BV >

int hpp::fcl::BVHCollisionTraversalNode< BV >::getFirstLeftChild ( int  b ) const

inlinevirtual

Obtain the left child of BV node in the first BVH.

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHCollisionTraversalNode< BV >::model1.

template<typename BV >

int hpp::fcl::BVHCollisionTraversalNode< BV >::getFirstRightChild ( int  b ) const

inlinevirtual

Obtain the right child of BV node in the first BVH.

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHCollisionTraversalNode< BV >::model1.

template<typename BV >

int hpp::fcl::BVHCollisionTraversalNode< BV >::getSecondLeftChild ( int  b ) const

inlinevirtual

Obtain the left child of BV node in the second BVH.

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHCollisionTraversalNode< BV >::model2.

template<typename BV >

int hpp::fcl::BVHCollisionTraversalNode< BV >::getSecondRightChild ( int  b ) const

inlinevirtual

Obtain the right child of BV node in the second BVH.

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHCollisionTraversalNode< BV >::model2.

template<typename BV >

bool hpp::fcl::BVHCollisionTraversalNode< BV >::isFirstNodeLeaf ( int  b ) const

inlinevirtual

Whether the BV node in the first BVH tree is leaf.

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHCollisionTraversalNode< BV >::model1.

template<typename BV >

bool hpp::fcl::BVHCollisionTraversalNode< BV >::isSecondNodeLeaf ( int  b ) const

inlinevirtual

Whether the BV node in the second BVH tree is leaf.

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHCollisionTraversalNode< BV >::model2.

Member Data Documentation

template<typename BV >

const BVHModel<BV>* hpp::fcl::BVHCollisionTraversalNode< BV >::model1

The first BVH model.

Referenced by hpp::fcl::BVHCollisionTraversalNode< BV >::BVHCollisionTraversalNode(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVHDistanceTraversalNode(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::BVTesting(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVTesting(), hpp::fcl::BVHCollisionTraversalNode< BV >::firstOverSecond(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::firstOverSecond(), hpp::fcl::BVHCollisionTraversalNode< BV >::getFirstLeftChild(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::getFirstLeftChild(), hpp::fcl::BVHCollisionTraversalNode< BV >::getFirstRightChild(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::getFirstRightChild(), hpp::fcl::initialize(), hpp::fcl::BVHCollisionTraversalNode< BV >::isFirstNodeLeaf(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::isFirstNodeLeaf(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), and hpp::fcl::MeshDistanceTraversalNode< OBBRSS >::leafTesting().

template<typename BV >

const BVHModel<BV>* hpp::fcl::BVHCollisionTraversalNode< BV >::model2

The second BVH model.

Referenced by hpp::fcl::BVHCollisionTraversalNode< BV >::BVHCollisionTraversalNode(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVHDistanceTraversalNode(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::BVTesting(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVTesting(), hpp::fcl::BVHCollisionTraversalNode< BV >::firstOverSecond(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::firstOverSecond(), hpp::fcl::BVHCollisionTraversalNode< BV >::getSecondLeftChild(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::getSecondLeftChild(), hpp::fcl::BVHCollisionTraversalNode< BV >::getSecondRightChild(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::getSecondRightChild(), hpp::fcl::initialize(), hpp::fcl::BVHCollisionTraversalNode< BV >::isSecondNodeLeaf(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::isSecondNodeLeaf(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), and hpp::fcl::MeshDistanceTraversalNode< OBBRSS >::leafTesting().

template<typename BV >

int hpp::fcl::BVHCollisionTraversalNode< BV >::num_bv_tests

mutable

statistical information

Referenced by hpp::fcl::BVHCollisionTraversalNode< BV >::BVHCollisionTraversalNode(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVHDistanceTraversalNode(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::BVTesting(), and hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVTesting().

template<typename BV >

int hpp::fcl::BVHCollisionTraversalNode< BV >::num_leaf_tests

mutable

Referenced by hpp::fcl::BVHCollisionTraversalNode< BV >::BVHCollisionTraversalNode(), hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVHDistanceTraversalNode(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), and hpp::fcl::MeshDistanceTraversalNode< OBBRSS >::leafTesting().

template<typename BV >

FCL_REAL hpp::fcl::BVHCollisionTraversalNode< BV >::query_time_seconds

mutable

Referenced by hpp::fcl::BVHCollisionTraversalNode< BV >::BVHCollisionTraversalNode(), and hpp::fcl::BVHDistanceTraversalNode< OBBRSS >::BVHDistanceTraversalNode().