hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
hpp::fcl::BVNode< BV > Struct Template Reference

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

#include <hpp/fcl/BV/BV_node.h>

Inheritance diagram for hpp::fcl::BVNode< BV >:
Collaboration diagram for hpp::fcl::BVNode< BV >:

Public Member Functions

bool overlap (const BVNode &other) const
 Check whether two BVNode collide. More...
 
bool overlap (const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
 Check whether two BVNode collide. More...
 
FCL_REAL distance (const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const
 Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More...
 
Vec3f getCenter () const
 Access to the center of the BV. More...
 
const Matrix3fgetOrientation () const
 Access to the orientation of the BV. More...
 
template<>
const Matrix3fgetOrientation () const
 
template<>
const Matrix3fgetOrientation () const
 
template<>
const Matrix3fgetOrientation () const
 
- Public Member Functions inherited from hpp::fcl::BVNodeBase
bool isLeaf () const
 Whether current node is a leaf node (i.e. contains a primitive index. More...
 
int primitiveId () const
 Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More...
 
int leftChild () const
 Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...
 
int rightChild () const
 Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...
 

Public Attributes

BV bv
 bounding volume storing the geometry More...
 
- Public Attributes inherited from hpp::fcl::BVNodeBase
int first_child
 An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More...
 
int first_primitive
 The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly. More...
 
int num_primitives
 The number of primitives belonging to the current node. More...
 

Detailed Description

template<typename BV>
struct hpp::fcl::BVNode< BV >

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.

Member Function Documentation

◆ getOrientation() [1/3]

template<>
const Matrix3f & hpp::fcl::BVNode< OBB >::getOrientation ( ) const
inline

◆ getOrientation() [2/3]

template<>
const Matrix3f & hpp::fcl::BVNode< RSS >::getOrientation ( ) const
inline

◆ getOrientation() [3/3]

template<>
const Matrix3f & hpp::fcl::BVNode< OBBRSS >::getOrientation ( ) const
inline

The documentation for this struct was generated from the following file: