hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
octree-node.hh
Go to the documentation of this file.
1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_OCTREE_NODE_HH
20 #define HPP_OCTREE_NODE_HH
21 
22 #include <hpp/fcl/octree.h>
23 
25 
26 namespace hpp {
27 
28 namespace rbprm {
29 namespace sampling {
30 HPP_PREDEF_CLASS(OctreeNode);
31 
36 class OctreeNode;
37 typedef shared_ptr<OctreeNode> OctreeNodePtr_t;
38 
40  public:
46  OctreeNode(const pinocchio::JointPtr_t limb, const std::size_t nbSamples,
47  const double resolution = 0.1);
48  ~OctreeNode();
49 
50  private:
51  public:
53  const std::deque<Sample> samples_;
54 
55  private:
56  fcl::OcTree* octree_; // deleted with geometry_
57  const shared_ptr<fcl::CollisionGeometry> geometry_;
58 
59  public:
60  const fcl::CollisionObject treeObject_;
62  const std::vector<fcl::CollisionObject*> boxes_;
63 
64 }; // class OctreeNode
65 } // namespace sampling
66 } // namespace rbprm
67 } // namespace hpp
68 #endif // HPP_OCTREE_NODE_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:26
HPP_PREDEF_CLASS(OctreeNode)
const fcl::CollisionObject treeObject_
Definition: octree-node.hh:60
Definition: octree-node.hh:39
const std::deque< Sample > samples_
samples generated
Definition: octree-node.hh:53
const std::vector< fcl::CollisionObject * > boxes_
Bounding boxes of areas of interest of the octree.
Definition: octree-node.hh:62
shared_ptr< OctreeNode > OctreeNodePtr_t
Definition: octree-node.hh:36