hpp::fcl::TraversalNodeBase Class Reference

Node structure encoding the information required for traversal. More...

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

Inheritance diagram for hpp::fcl::TraversalNodeBase:

Collaboration diagram for hpp::fcl::TraversalNodeBase:

Public Member Functions
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...
virtual void	enableStatistics (bool enable)=0
	Enable statistics (verbose mode) More...

Public Attributes
Transform3f	tf1
	configuation of first object More...
Transform3f	tf2
	configuration of second object More...

Detailed Description

Node structure encoding the information required for traversal.

Constructor & Destructor Documentation

virtual hpp::fcl::TraversalNodeBase::~TraversalNodeBase ( )

virtual

Member Function Documentation

virtual void hpp::fcl::TraversalNodeBase::enableStatistics ( bool  enable )

pure virtual

Enable statistics (verbose mode)

Implemented in hpp::fcl::DistanceTraversalNodeBase, and hpp::fcl::CollisionTraversalNodeBase.

Referenced by postprocess().

virtual bool hpp::fcl::TraversalNodeBase::firstOverSecond ( int  b1, int  b2  ) const

virtual

Traverse the subtree of the node in the first tree first.

Reimplemented in hpp::fcl::BVHDistanceTraversalNode< BV >, hpp::fcl::BVHDistanceTraversalNode< kIOS >, hpp::fcl::BVHDistanceTraversalNode< RSS >, hpp::fcl::BVHDistanceTraversalNode< OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBB >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, RSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, and hpp::fcl::BVHCollisionTraversalNode< BV >.

Referenced by postprocess().

virtual int hpp::fcl::TraversalNodeBase::getFirstLeftChild ( int  b ) const

virtual

Get the left child of the node b in the first tree.

Reimplemented in hpp::fcl::BVHShapeDistanceTraversalNode< BV, S >, hpp::fcl::BVHShapeDistanceTraversalNode< kIOS, S >, hpp::fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >, hpp::fcl::BVHShapeDistanceTraversalNode< RSS, S >, hpp::fcl::BVHDistanceTraversalNode< BV >, hpp::fcl::BVHDistanceTraversalNode< kIOS >, hpp::fcl::BVHDistanceTraversalNode< RSS >, hpp::fcl::BVHDistanceTraversalNode< OBBRSS >, hpp::fcl::BVHCollisionTraversalNode< BV >, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >, hpp::fcl::BVHShapeCollisionTraversalNode< OBB, S >, hpp::fcl::BVHShapeCollisionTraversalNode< kIOS, S >, hpp::fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, and hpp::fcl::BVHShapeCollisionTraversalNode< RSS, S >.

Referenced by postprocess().

virtual int hpp::fcl::TraversalNodeBase::getFirstRightChild ( int  b ) const

virtual

Get the right child of the node b in the first tree.

Reimplemented in hpp::fcl::BVHShapeDistanceTraversalNode< BV, S >, hpp::fcl::BVHShapeDistanceTraversalNode< kIOS, S >, hpp::fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >, hpp::fcl::BVHShapeDistanceTraversalNode< RSS, S >, hpp::fcl::BVHDistanceTraversalNode< BV >, hpp::fcl::BVHDistanceTraversalNode< kIOS >, hpp::fcl::BVHDistanceTraversalNode< RSS >, hpp::fcl::BVHDistanceTraversalNode< OBBRSS >, hpp::fcl::BVHCollisionTraversalNode< BV >, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >, hpp::fcl::BVHShapeCollisionTraversalNode< OBB, S >, hpp::fcl::BVHShapeCollisionTraversalNode< kIOS, S >, hpp::fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, and hpp::fcl::BVHShapeCollisionTraversalNode< RSS, S >.

Referenced by postprocess().

virtual int hpp::fcl::TraversalNodeBase::getSecondLeftChild ( int  b ) const

virtual

Get the left child of the node b in the second tree.

Reimplemented in hpp::fcl::ShapeBVHDistanceTraversalNode< S, BV >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, kIOS >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, RSS >, hpp::fcl::BVHDistanceTraversalNode< BV >, hpp::fcl::BVHDistanceTraversalNode< kIOS >, hpp::fcl::BVHDistanceTraversalNode< RSS >, hpp::fcl::BVHDistanceTraversalNode< OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBB >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, RSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, and hpp::fcl::BVHCollisionTraversalNode< BV >.

Referenced by postprocess().

virtual int hpp::fcl::TraversalNodeBase::getSecondRightChild ( int  b ) const

virtual

Get the right child of the node b in the second tree.

Reimplemented in hpp::fcl::ShapeBVHDistanceTraversalNode< S, BV >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, kIOS >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, RSS >, hpp::fcl::BVHDistanceTraversalNode< BV >, hpp::fcl::BVHDistanceTraversalNode< kIOS >, hpp::fcl::BVHDistanceTraversalNode< RSS >, hpp::fcl::BVHDistanceTraversalNode< OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBB >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, RSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, and hpp::fcl::BVHCollisionTraversalNode< BV >.

Referenced by postprocess().

virtual bool hpp::fcl::TraversalNodeBase::isFirstNodeLeaf ( int  b ) const

virtual

Whether b is a leaf node in the first BVH tree.

Reimplemented in hpp::fcl::BVHShapeDistanceTraversalNode< BV, S >, hpp::fcl::BVHShapeDistanceTraversalNode< kIOS, S >, hpp::fcl::BVHShapeDistanceTraversalNode< OBBRSS, S >, hpp::fcl::BVHShapeDistanceTraversalNode< RSS, S >, hpp::fcl::BVHDistanceTraversalNode< BV >, hpp::fcl::BVHDistanceTraversalNode< kIOS >, hpp::fcl::BVHDistanceTraversalNode< RSS >, hpp::fcl::BVHDistanceTraversalNode< OBBRSS >, hpp::fcl::BVHCollisionTraversalNode< BV >, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >, hpp::fcl::BVHShapeCollisionTraversalNode< OBB, S >, hpp::fcl::BVHShapeCollisionTraversalNode< kIOS, S >, hpp::fcl::BVHShapeCollisionTraversalNode< OBBRSS, S >, and hpp::fcl::BVHShapeCollisionTraversalNode< RSS, S >.

Referenced by postprocess().

virtual bool hpp::fcl::TraversalNodeBase::isSecondNodeLeaf ( int  b ) const

virtual

Whether b is a leaf node in the second BVH tree.

Reimplemented in hpp::fcl::ShapeBVHDistanceTraversalNode< S, BV >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, kIOS >, hpp::fcl::ShapeBVHDistanceTraversalNode< S, RSS >, hpp::fcl::BVHDistanceTraversalNode< BV >, hpp::fcl::BVHDistanceTraversalNode< kIOS >, hpp::fcl::BVHDistanceTraversalNode< RSS >, hpp::fcl::BVHDistanceTraversalNode< OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBB >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, RSS >, hpp::fcl::ShapeBVHCollisionTraversalNode< S, kIOS >, and hpp::fcl::BVHCollisionTraversalNode< BV >.

Referenced by postprocess().

virtual void hpp::fcl::TraversalNodeBase::postprocess ( )

inlinevirtual

Reimplemented in hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, hpp::fcl::MeshDistanceTraversalNodeOBBRSS, hpp::fcl::MeshDistanceTraversalNodekIOS, and hpp::fcl::MeshDistanceTraversalNodeRSS.

References enableStatistics(), firstOverSecond(), getFirstLeftChild(), getFirstRightChild(), getSecondLeftChild(), getSecondRightChild(), isFirstNodeLeaf(), and isSecondNodeLeaf().

virtual void hpp::fcl::TraversalNodeBase::preprocess ( )

inlinevirtual

Reimplemented in hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >, hpp::fcl::MeshDistanceTraversalNodeOBBRSS, hpp::fcl::MeshDistanceTraversalNodekIOS, and hpp::fcl::MeshDistanceTraversalNodeRSS.

Member Data Documentation

Transform3f hpp::fcl::TraversalNodeBase::tf1

configuation of first object

Referenced by hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::initialize(), hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::preprocess(), and hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::preprocess().

Transform3f hpp::fcl::TraversalNodeBase::tf2

configuration of second object

Referenced by hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::initialize(), hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::preprocess(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::preprocess(), and hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::preprocess().