hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver > Class Template Reference

Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) More...

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

Inheritance diagram for hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >:

Collaboration diagram for hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >:

Public Member Functions
	MeshShapeDistanceTraversalNodeRSS ()
void	preprocess ()
void	postprocess ()
FCL_REAL	BVTesting (int b1, int) const
	BV test between b1 and b2. More...
void	leafTesting (int b1, int b2) const
	Leaf test between node b1 and b2, if they are both leafs. More...
Public Member Functions inherited from hpp::fcl::MeshShapeDistanceTraversalNode< RSS, S, NarrowPhaseSolver >
	MeshShapeDistanceTraversalNode ()
void	leafTesting (int b1, int) const
	Distance testing between leaves (one triangle and one shape) More...
bool	canStop (FCL_REAL c) const
	Whether the traversal process can stop early. More...
Public Member Functions inherited from hpp::fcl::BVHShapeDistanceTraversalNode< RSS, S >
	BVHShapeDistanceTraversalNode ()
bool	isFirstNodeLeaf (int b) const
	Whether the BV node in the first BVH tree is leaf. 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...
FCL_REAL	BVTesting (int b1, int) const
	BV culling test in one BVTT node. More...
Public Member Functions inherited from hpp::fcl::DistanceTraversalNodeBase
	DistanceTraversalNodeBase ()
virtual	~DistanceTraversalNodeBase ()
void	enableStatistics (bool enable)
	Whether store some statistics information during traversal. More...
Public Member Functions inherited from hpp::fcl::TraversalNodeBase
virtual	~TraversalNodeBase ()
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	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...

Additional Inherited Members
Public Attributes inherited from hpp::fcl::MeshShapeDistanceTraversalNode< RSS, S, NarrowPhaseSolver >
Vec3f *	vertices
Triangle *	tri_indices
FCL_REAL	rel_err
FCL_REAL	abs_err
const NarrowPhaseSolver *	nsolver
Public Attributes inherited from hpp::fcl::BVHShapeDistanceTraversalNode< RSS, S >
const BVHModel< RSS > *	model1
const S *	model2
RSS	model2_bv
int	num_bv_tests
int	num_leaf_tests
FCL_REAL	query_time_seconds
Public Attributes inherited from hpp::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 hpp::fcl::TraversalNodeBase
Transform3f	tf1
	configuation of first object More...
Transform3f	tf2
	configuration of second object More...

Detailed Description

template<typename S, typename NarrowPhaseSolver>
class hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >

Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS)

Constructor & Destructor Documentation

template<typename S, typename NarrowPhaseSolver>

hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::MeshShapeDistanceTraversalNodeRSS ( )

inline

Member Function Documentation

template<typename S, typename NarrowPhaseSolver>

FCL_REAL hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting ( int  b1, int  b2  ) const

inlinevirtual

BV test between b1 and b2.

Returns

a lower bound of the distance between the two BV.

Note

except for OBB, this method returns the distance.

Reimplemented from hpp::fcl::DistanceTraversalNodeBase.

References hpp::fcl::distance(), hpp::fcl::CollisionTraversalNodeBase::enable_statistics, hpp::fcl::Transform3f::getRotation(), hpp::fcl::Transform3f::getTranslation(), hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model1, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model2_bv, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::num_bv_tests, and hpp::fcl::TraversalNodeBase::tf1.

template<typename S, typename NarrowPhaseSolver>

void hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting ( int  b1, int  b2  ) const

inlinevirtual

Leaf test between node b1 and b2, if they are both leafs.

Implements hpp::fcl::DistanceTraversalNodeBase.

References hpp::fcl::CollisionTraversalNodeBase::enable_statistics, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model1, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model2, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::num_leaf_tests, hpp::fcl::CollisionTraversalNodeBase::request, hpp::fcl::CollisionTraversalNodeBase::result, hpp::fcl::TraversalNodeBase::tf1, and hpp::fcl::TraversalNodeBase::tf2.

template<typename S, typename NarrowPhaseSolver>

void hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::postprocess ( )

inlinevirtual

Reimplemented from hpp::fcl::TraversalNodeBase.

template<typename S, typename NarrowPhaseSolver>

void hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::preprocess ( )

inlinevirtual

Reimplemented from hpp::fcl::TraversalNodeBase.

References hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model1, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model2, hpp::fcl::CollisionTraversalNodeBase::request, hpp::fcl::CollisionTraversalNodeBase::result, hpp::fcl::TraversalNodeBase::tf1, and hpp::fcl::TraversalNodeBase::tf2.