hpp::fcl::OcTreeSolver< NarrowPhaseSolver > Class Template Reference

Algorithms for collision related with octree. More...

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

Public Member Functions
	OcTreeSolver (const NarrowPhaseSolver *solver_)
void	OcTreeIntersect (const OcTree *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between two octrees More...
void	OcTreeDistance (const OcTree *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between two octrees More...
template<typename BV >
void	OcTreeMeshIntersect (const OcTree *tree1, const BVHModel< BV > *tree2, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between octree and mesh More...
template<typename BV >
void	OcTreeMeshDistance (const OcTree *tree1, const BVHModel< BV > *tree2, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between octree and mesh More...
template<typename BV >
void	MeshOcTreeIntersect (const BVHModel< BV > *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between mesh and octree More...
template<typename BV >
void	MeshOcTreeDistance (const BVHModel< BV > *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between mesh and octree More...
template<typename S >
void	OcTreeShapeIntersect (const OcTree *tree, const S &s, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between octree and shape More...
template<typename S >
void	ShapeOcTreeIntersect (const S &s, const OcTree *tree, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between shape and octree More...
template<typename S >
void	OcTreeShapeDistance (const OcTree *tree, const S &s, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between octree and shape More...
template<typename S >
void	ShapeOcTreeDistance (const S &s, const OcTree *tree, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between shape and octree More...

Detailed Description

template<typename NarrowPhaseSolver>
class hpp::fcl::OcTreeSolver< NarrowPhaseSolver >

Algorithms for collision related with octree.

Constructor & Destructor Documentation

template<typename NarrowPhaseSolver>

hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeSolver ( const NarrowPhaseSolver *  solver_ )

inline

Member Function Documentation

template<typename NarrowPhaseSolver>

template<typename BV >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::MeshOcTreeDistance ( const BVHModel< BV > *  tree1, const OcTree *  tree2, const Transform3f &  tf1, const Transform3f &  tf2, const DistanceRequest &  request_, DistanceResult &  result_  ) const

inline

distance between mesh and octree

References hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

template<typename BV >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::MeshOcTreeIntersect ( const BVHModel< BV > *  tree1, const OcTree *  tree2, const Transform3f &  tf1, const Transform3f &  tf2, const CollisionRequest &  request_, CollisionResult &  result_  ) const

inline

collision between mesh and octree

References hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeDistance ( const OcTree *  tree1, const OcTree *  tree2, const Transform3f &  tf1, const Transform3f &  tf2, const DistanceRequest &  request_, DistanceResult &  result_  ) const

inline

distance between two octrees

References hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeIntersect ( const OcTree *  tree1, const OcTree *  tree2, const Transform3f &  tf1, const Transform3f &  tf2, const CollisionRequest &  request_, CollisionResult &  result_  ) const

inline

collision between two octrees

References hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

template<typename BV >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshDistance ( const OcTree *  tree1, const BVHModel< BV > *  tree2, const Transform3f &  tf1, const Transform3f &  tf2, const DistanceRequest &  request_, DistanceResult &  result_  ) const

inline

distance between octree and mesh

References hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

template<typename BV >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshIntersect ( const OcTree *  tree1, const BVHModel< BV > *  tree2, const Transform3f &  tf1, const Transform3f &  tf2, const CollisionRequest &  request_, CollisionResult &  result_  ) const

inline

collision between octree and mesh

References hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

template<typename S >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeDistance ( const OcTree *  tree, const S &  s, const Transform3f &  tf1, const Transform3f &  tf2, const DistanceRequest &  request_, DistanceResult &  result_  ) const

inline

distance between octree and shape

References hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

template<typename S >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersect ( const OcTree *  tree, const S &  s, const Transform3f &  tf1, const Transform3f &  tf2, const CollisionRequest &  request_, CollisionResult &  result_  ) const

inline

collision between octree and shape

References hpp::fcl::convertBV(), hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().

template<typename NarrowPhaseSolver>

template<typename S >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance ( const S &  s, const OcTree *  tree, const Transform3f &  tf1, const Transform3f &  tf2, const DistanceRequest &  request_, DistanceResult &  result_  ) const

inline

distance between shape and octree

References hpp::fcl::CollisionResult::addContact(), hpp::fcl::computeBV< AABB, Box >(), hpp::fcl::computeChildBV(), hpp::fcl::constructBox(), hpp::fcl::convertBV(), hpp::fcl::distance(), hpp::fcl::AABB::distance(), hpp::fcl::CollisionRequest::enable_contact, hpp::fcl::BVHModel< BV >::getBV(), hpp::fcl::OcTree::getNodeChild(), hpp::fcl::OcTree::getRoot(), hpp::fcl::OcTree::getRootBV(), hpp::fcl::OcTree::isNodeFree(), hpp::fcl::OcTree::isNodeOccupied(), hpp::fcl::OcTree::isNodeUncertain(), hpp::fcl::CollisionRequest::isSatisfied(), hpp::fcl::DistanceRequest::isSatisfied(), hpp::fcl::CollisionGeometry::isUncertain(), hpp::fcl::OcTree::nodeChildExists(), hpp::fcl::OcTree::nodeHasChildren(), hpp::fcl::Contact::NONE, hpp::fcl::DistanceResult::NONE, hpp::fcl::CollisionRequest::num_max_contacts, hpp::fcl::CollisionResult::numContacts(), hpp::fcl::OBB::overlap(), hpp::fcl::AABB::overlap(), hpp::fcl::CollisionRequest::security_margin, hpp::fcl::AABB::size(), hpp::fcl::Transform3f::transform(), hpp::fcl::BVHModel< BV >::tri_indices, hpp::fcl::DistanceResult::update(), and hpp::fcl::BVHModel< BV >::vertices.

template<typename NarrowPhaseSolver>

template<typename S >

void hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeIntersect ( const S &  s, const OcTree *  tree, const Transform3f &  tf1, const Transform3f &  tf2, const CollisionRequest &  request_, CollisionResult &  result_  ) const

inline

collision between shape and octree

References hpp::fcl::convertBV(), hpp::fcl::OcTree::getRoot(), and hpp::fcl::OcTree::getRootBV().