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

Traversal node for shape-octree distance. More...

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

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

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

Public Member Functions
	ShapeOcTreeDistanceTraversalNode ()
FCL_REAL	BVTesting (int, int) const
	BV test between b1 and b2. More...
void	leafTesting (int, int) const
	Leaf test between node b1 and b2, if they are both leafs. 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 S *	model1
const OcTree *	model2
const OcTreeSolver< NarrowPhaseSolver > *	otsolver
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::ShapeOcTreeDistanceTraversalNode< S, NarrowPhaseSolver >

Traversal node for shape-octree distance.

Constructor & Destructor Documentation

template<typename S , typename NarrowPhaseSolver >

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

inline

Member Function Documentation

template<typename S , typename NarrowPhaseSolver >

FCL_REAL hpp::fcl::ShapeOcTreeDistanceTraversalNode< 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.

template<typename S , typename NarrowPhaseSolver >

void hpp::fcl::ShapeOcTreeDistanceTraversalNode< 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.

Member Data Documentation

template<typename S , typename NarrowPhaseSolver >

const S* hpp::fcl::ShapeOcTreeDistanceTraversalNode< S, NarrowPhaseSolver >::model1

template<typename S , typename NarrowPhaseSolver >

const OcTree* hpp::fcl::ShapeOcTreeDistanceTraversalNode< S, NarrowPhaseSolver >::model2

template<typename S , typename NarrowPhaseSolver >

const OcTreeSolver<NarrowPhaseSolver>* hpp::fcl::ShapeOcTreeDistanceTraversalNode< S, NarrowPhaseSolver >::otsolver