hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > Class Template Reference

Traversal node for distance between two shapes. More...

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

Inheritance diagram for hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >:

Collaboration diagram for hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >:

Public Member Functions
	ShapeDistanceTraversalNode ()
FCL_REAL	BVTesting (int, int) const
	BV culling test in one BVTT node. More...
void	leafTesting (int, int) const
	Distance testing between leaves (two shapes) More...
Public Member Functions inherited from hpp::fcl::DistanceTraversalNodeBase
	DistanceTraversalNodeBase ()
virtual	~DistanceTraversalNodeBase ()
virtual bool	canStop (FCL_REAL c) 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 ()
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...

Public Attributes
const S1 *	model1
const S2 *	model2
const NarrowPhaseSolver *	nsolver
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 S1, typename S2, typename NarrowPhaseSolver>
class hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >

Traversal node for distance between two shapes.

Constructor & Destructor Documentation

template<typename S1, typename S2, typename NarrowPhaseSolver>

hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeDistanceTraversalNode ( )

inline

References hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, and hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver.

Member Function Documentation

template<typename S1, typename S2, typename NarrowPhaseSolver>

FCL_REAL hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::BVTesting ( int  , int    ) const

inlinevirtual

BV culling test in one BVTT node.

Reimplemented from hpp::fcl::DistanceTraversalNodeBase.

template<typename S1, typename S2, typename NarrowPhaseSolver>

void hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting ( int  , int    ) const

inlinevirtual

Distance testing between leaves (two shapes)

Implements hpp::fcl::DistanceTraversalNodeBase.

References hpp::fcl::distance(), hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, hpp::fcl::DistanceResult::NONE, hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, hpp::fcl::CollisionTraversalNodeBase::result, hpp::fcl::TraversalNodeBase::tf1, and hpp::fcl::TraversalNodeBase::tf2.

Member Data Documentation

template<typename S1, typename S2, typename NarrowPhaseSolver>

const S1* hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model1

Referenced by hpp::fcl::initialize().

template<typename S1, typename S2, typename NarrowPhaseSolver>

const S2* hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model2

Referenced by hpp::fcl::initialize().

template<typename S1, typename S2, typename NarrowPhaseSolver>

const NarrowPhaseSolver* hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver

Referenced by hpp::fcl::initialize().