hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
octree-node.hh
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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 
23 #include <hpp/fcl/octree.h>
24 
25 namespace hpp {
26 
27 namespace rbprm {
28 namespace sampling {
29 HPP_PREDEF_CLASS(OctreeNode);
30 
35 class OctreeNode;
36 typedef std::shared_ptr<OctreeNode> OctreeNodePtr_t;
37 
39  public:
45  OctreeNode(const pinocchio::JointPtr_t limb, const std::size_t nbSamples, const double resolution = 0.1);
46  ~OctreeNode();
47 
48  private:
49  public:
51  const std::deque<Sample> samples_;
52 
53  private:
54  fcl::OcTree* octree_; // deleted with geometry_
55  const std::shared_ptr<fcl::CollisionGeometry> geometry_;
56 
57  public:
58  const fcl::CollisionObject treeObject_;
60  const std::vector<fcl::CollisionObject*> boxes_;
61 
62 }; // class OctreeNode
63 } // namespace sampling
64 } // namespace rbprm
65 } // namespace hpp
66 #endif // HPP_OCTREE_NODE_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
std::shared_ptr< OctreeNode > OctreeNodePtr_t
Definition: octree-node.hh:35
Definition: algorithm.hh:27
HPP_PREDEF_CLASS(OctreeNode)
const fcl::CollisionObject treeObject_
Definition: octree-node.hh:58
Definition: octree-node.hh:38
const std::deque< Sample > samples_
samples generated
Definition: octree-node.hh:51
const std::vector< fcl::CollisionObject * > boxes_
Bounding boxes of areas of interest of the octree.
Definition: octree-node.hh:60