hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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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
22#include <hpp/fcl/octree.h>
23
25
26namespace hpp {
27
28namespace rbprm {
29namespace sampling {
31
36class OctreeNode;
37typedef 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);
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
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
OctreeNode(const pinocchio::JointPtr_t limb, const std::size_t nbSamples, const double resolution=0.1)
const fcl::CollisionObject treeObject_
Definition: octree-node.hh:60
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
shared_ptr< OctreeNode > OctreeNodePtr_t
Definition: octree-node.hh:37
HPP_PREDEF_CLASS(OctreeNode)
Definition: algorithm.hh:26