hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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BVH_utility.h
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35
39#ifndef HPP_FCL_BVH_UTILITY_H
40#define HPP_FCL_BVH_UTILITY_H
41
43
44namespace hpp
45{
46namespace fcl
47{
50template<typename BV>
52BVHModel<BV>* BVHExtract(const BVHModel<BV>& model, const Transform3f& pose, const AABB& aabb);
53
54template<>
56BVHModel<OBB >* BVHExtract(const BVHModel<OBB >& model, const Transform3f& pose, const AABB& aabb);
57template<>
59BVHModel<AABB >* BVHExtract(const BVHModel<AABB >& model, const Transform3f& pose, const AABB& aabb);
60template<>
62BVHModel<RSS >* BVHExtract(const BVHModel<RSS >& model, const Transform3f& pose, const AABB& aabb);
63template<>
65BVHModel<kIOS >* BVHExtract(const BVHModel<kIOS >& model, const Transform3f& pose, const AABB& aabb);
66template<>
68BVHModel<OBBRSS >* BVHExtract(const BVHModel<OBBRSS >& model, const Transform3f& pose, const AABB& aabb);
69template<>
71BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model, const Transform3f& pose, const AABB& aabb);
72template<>
74BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model, const Transform3f& pose, const AABB& aabb);
75template<>
77BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model, const Transform3f& pose, const AABB& aabb);
78
80HPP_FCL_DLLAPI void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, Matrix3f& M);
81
83HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
84
86HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, Matrix3f& axes, Vec3f& center, Vec3f& extent);
87
89HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec3f& center, FCL_REAL& radius);
90
92HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n, const Vec3f& query);
93
94}
95
96} // namespace hpp
97
98#endif
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:56
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:278
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:90
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
Triangle with 3 indices for points.
Definition: data_types.h:77
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
FCL_REAL maximumDistance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3f &query)
Compute the maximum distance from a given center point to a point cloud.
void getRadiusAndOriginAndRectangleSize(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
Compute the RSS bounding volume parameters: radius, rectangle size and the origin,...
void circumCircleComputation(const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
Compute the center and radius for a triangle's circumcircle.
double FCL_REAL
Definition: data_types.h:66
BVHModel< BV > * BVHExtract(const BVHModel< BV > &model, const Transform3f &pose, const AABB &aabb)
Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is con...
void getCovariance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &M)
Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to poin...
void getExtentAndCenter(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
Main namespace.
Definition: AABB.h:44