hpp::fcl::kIOS Class Reference

A class describing the kIOS collision structure, which is a set of spheres. More...

#include <hpp/fcl/BV/kIOS.h>

Collaboration diagram for hpp::fcl::kIOS:

Public Member Functions
bool	overlap (const kIOS &other) const
	Check collision between two kIOS. More...
bool	overlap (const kIOS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
	Check collision between two kIOS. More...
bool	overlap (const kIOS &other, kIOS &) const
	Check collision between two kIOS and return the overlap part. More...
bool	contain (const Vec3f &p) const
	Check whether the kIOS contains a point. More...
kIOS &	operator+= (const Vec3f &p)
	A simple way to merge the kIOS and a point. More...
kIOS &	operator+= (const kIOS &other)
	Merge the kIOS and another kIOS. More...
kIOS	operator+ (const kIOS &other) const
	Return the merged kIOS of current kIOS and the other one. More...
const Vec3f &	center () const
	Center of the kIOS. More...
FCL_REAL	width () const
	Width of the kIOS. More...
FCL_REAL	height () const
	Height of the kIOS. More...
FCL_REAL	depth () const
	Depth of the kIOS. More...
FCL_REAL	volume () const
	Volume of the kIOS. More...
FCL_REAL	size () const
	size of the kIOS (used in BV_Splitter to order two kIOSs) More...
FCL_REAL	distance (const kIOS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
	The distance between two kIOS. More...

Public Attributes
kIOS_Sphere	spheres [5]
	The (at most) five spheres for intersection. More...
unsigned int	num_spheres
	The number of spheres, no larger than 5. More...
OBB	obb
	@ OBB related with kIOS More...

Detailed Description

A class describing the kIOS collision structure, which is a set of spheres.

Member Function Documentation

const Vec3f& hpp::fcl::kIOS::center ( ) const

inline

Center of the kIOS.

References depth(), distance(), height(), overlap(), size(), hpp::fcl::translate(), volume(), and width().

bool hpp::fcl::kIOS::contain ( const Vec3f &  p ) const

inline

Check whether the kIOS contains a point.

Referenced by overlap().

FCL_REAL hpp::fcl::kIOS::depth

(

)

const

Depth of the kIOS.

Referenced by center().

FCL_REAL hpp::fcl::kIOS::distance	(	const kIOS &	other,
		Vec3f *	P = NULL,
		Vec3f *	Q = NULL
	)		const

The distance between two kIOS.

Referenced by center().

FCL_REAL hpp::fcl::kIOS::height

(

)

const

Height of the kIOS.

Referenced by center().

kIOS hpp::fcl::kIOS::operator+

(

const kIOS &

other

)

const

Return the merged kIOS of current kIOS and the other one.

Referenced by operator+=().

kIOS& hpp::fcl::kIOS::operator+=

(

const Vec3f &

p

)

A simple way to merge the kIOS and a point.

Referenced by overlap().

kIOS& hpp::fcl::kIOS::operator+= ( const kIOS &  other )

inline

Merge the kIOS and another kIOS.

References operator+().

bool hpp::fcl::kIOS::overlap

(

const kIOS &

other

)

const

Check collision between two kIOS.

Referenced by center(), and overlap().

bool hpp::fcl::kIOS::overlap	(	const kIOS &	other,
		const CollisionRequest &	,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check collision between two kIOS.

bool hpp::fcl::kIOS::overlap ( const kIOS &  other, kIOS &    ) const

inline

Check collision between two kIOS and return the overlap part.

For kIOS, we return nothing, as the overlappart of two kIOS usually is not an kIOS

Todo:

Not efficient. It first checks the sphere collisions and then use OBB for further culling.

References contain(), operator+=(), and overlap().

FCL_REAL hpp::fcl::kIOS::size

(

)

const

size of the kIOS (used in BV_Splitter to order two kIOSs)

Referenced by center().

FCL_REAL hpp::fcl::kIOS::volume

(

)

const

Volume of the kIOS.

Referenced by center().

FCL_REAL hpp::fcl::kIOS::width

(

)

const

Width of the kIOS.

Referenced by center().

Member Data Documentation

unsigned int hpp::fcl::kIOS::num_spheres

The number of spheres, no larger than 5.

OBB hpp::fcl::kIOS::obb

@ OBB related with kIOS

kIOS_Sphere hpp::fcl::kIOS::spheres[5]

The (at most) five spheres for intersection.