hpp-fcl 2.3.6
HPP fork of FCL -- The Flexible Collision Library
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traversal_node_base.h
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1/*
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35
38#ifndef HPP_FCL_TRAVERSAL_NODE_BASE_H
39#define HPP_FCL_TRAVERSAL_NODE_BASE_H
40
42
43#include <hpp/fcl/data_types.h>
46
47namespace hpp {
48namespace fcl {
49
51
52class TraversalNodeBase {
53 public:
54 TraversalNodeBase() : enable_statistics(false) {}
55
56 virtual ~TraversalNodeBase() {}
57
58 virtual void preprocess() {}
59
60 virtual void postprocess() {}
61
63 virtual bool isFirstNodeLeaf(unsigned int /*b*/) const { return true; }
64
66 virtual bool isSecondNodeLeaf(unsigned int /*b*/) const { return true; }
67
69 virtual bool firstOverSecond(unsigned int /*b1*/, unsigned int /*b2*/) const {
70 return true;
71 }
72
74 virtual int getFirstLeftChild(unsigned int b) const { return (int)b; }
75
77 virtual int getFirstRightChild(unsigned int b) const { return (int)b; }
78
80 virtual int getSecondLeftChild(unsigned int b) const { return (int)b; }
81
83 virtual int getSecondRightChild(unsigned int b) const { return (int)b; }
84
86 void enableStatistics(bool enable) { enable_statistics = enable; }
87
89 Transform3f tf1;
90
92 Transform3f tf2;
93
95 bool enable_statistics;
96};
97
101
104class CollisionTraversalNodeBase : public TraversalNodeBase {
105 public:
106 CollisionTraversalNodeBase(const CollisionRequest& request_)
107 : request(request_), result(NULL) {}
108
109 virtual ~CollisionTraversalNodeBase() {}
110
115 virtual bool BVDisjoints(unsigned int b1, unsigned int b2,
116 FCL_REAL& sqrDistLowerBound) const = 0;
117
119 virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/,
120 FCL_REAL& /*sqrDistLowerBound*/) const = 0;
121
123 bool canStop() const { return this->request.isSatisfied(*(this->result)); }
124
126 const CollisionRequest& request;
127
129 CollisionResult* result;
130};
131
133
137
140class DistanceTraversalNodeBase : public TraversalNodeBase {
141 public:
142 DistanceTraversalNodeBase() : result(NULL) {}
143
144 virtual ~DistanceTraversalNodeBase() {}
145
149 virtual FCL_REAL BVDistanceLowerBound(unsigned int /*b1*/,
150 unsigned int /*b2*/) const {
151 return (std::numeric_limits<FCL_REAL>::max)();
152 }
153
155 virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0;
156
158 virtual bool canStop(FCL_REAL /*c*/) const { return false; }
159
161 DistanceRequest request;
162
164 DistanceResult* result;
165};
166
168
169} // namespace fcl
170
171} // namespace hpp
172
174
175#endif
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44