hpp-fcl 2.4.5
HPP fork of FCL -- The Flexible Collision Library
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Construction of BVHModel

Classes

struct  hpp::fcl::BVNodeBase
 BVNodeBase encodes the tree structure for BVH. More...
 
struct  hpp::fcl::BVNode< BV >
 A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...
 
class  hpp::fcl::BVFitter< BV >
 The class for the default algorithm fitting a bounding volume to a set of points. More...
 
class  hpp::fcl::BVSplitter< BV >
 A class describing the split rule that splits each BV node. More...
 
class  hpp::fcl::BVHModelBase
 A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
 
class  hpp::fcl::BVHModel< BV >
 A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
 
class  hpp::fcl::CollisionGeometry
 The geometry for the object for collision or distance computation. More...
 
class  hpp::fcl::CollisionObject
 the object for collision or distance computation, contains the geometry and the transform information More...
 

Typedefs

typedef BVNodeBase hpp::fcl::BVNode< BV >::Base
 

Functions

 hpp::fcl::BVNodeBase::BVNodeBase ()
 Default constructor.
 
bool hpp::fcl::BVNodeBase::operator== (const BVNodeBase &other) const
 Equality operator.
 
bool hpp::fcl::BVNodeBase::operator!= (const BVNodeBase &other) const
 Difference operator.
 
bool hpp::fcl::BVNodeBase::isLeaf () const
 Whether current node is a leaf node (i.e. contains a primitive index.
 
int hpp::fcl::BVNodeBase::primitiveId () const
 Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.
 
int hpp::fcl::BVNodeBase::leftChild () const
 Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.
 
int hpp::fcl::BVNodeBase::rightChild () const
 Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.
 
bool hpp::fcl::BVNode< BV >::operator== (const BVNode &other) const
 Equality operator.
 
bool hpp::fcl::BVNode< BV >::operator!= (const BVNode &other) const
 Difference operator.
 
bool hpp::fcl::BVNode< BV >::overlap (const BVNode &other) const
 Check whether two BVNode collide.
 
bool hpp::fcl::BVNode< BV >::overlap (const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
 Check whether two BVNode collide.
 
FCL_REAL hpp::fcl::BVNode< BV >::distance (const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const
 Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.
 
Vec3f hpp::fcl::BVNode< BV >::getCenter () const
 Access to the center of the BV.
 
const Matrix3fhpp::fcl::BVNode< BV >::getOrientation () const
 Access to the orientation of the BV.
 
 hpp::fcl::CollisionGeometry::CollisionGeometry ()
 
 hpp::fcl::CollisionGeometry::CollisionGeometry (const CollisionGeometry &other)=default
 Copy constructor.
 
virtual hpp::fcl::CollisionGeometry::~CollisionGeometry ()
 
virtual CollisionGeometryhpp::fcl::CollisionGeometry::clone () const =0
 Clone *this into a new CollisionGeometry.
 
bool hpp::fcl::CollisionGeometry::operator== (const CollisionGeometry &other) const
 Equality operator.
 
bool hpp::fcl::CollisionGeometry::operator!= (const CollisionGeometry &other) const
 Difference operator.
 
virtual OBJECT_TYPE hpp::fcl::CollisionGeometry::getObjectType () const
 get the type of the object
 
virtual NODE_TYPE hpp::fcl::CollisionGeometry::getNodeType () const
 get the node type
 
virtual void hpp::fcl::CollisionGeometry::computeLocalAABB ()=0
 compute the AABB for object in local coordinate
 
void * hpp::fcl::CollisionGeometry::getUserData () const
 get user data in geometry
 
void hpp::fcl::CollisionGeometry::setUserData (void *data)
 set user data in geometry
 
bool hpp::fcl::CollisionGeometry::isOccupied () const
 whether the object is completely occupied
 
bool hpp::fcl::CollisionGeometry::isFree () const
 whether the object is completely free
 
bool hpp::fcl::CollisionGeometry::isUncertain () const
 whether the object has some uncertainty
 
virtual Vec3f hpp::fcl::CollisionGeometry::computeCOM () const
 compute center of mass
 
virtual Matrix3f hpp::fcl::CollisionGeometry::computeMomentofInertia () const
 compute the inertia matrix, related to the origin
 
virtual FCL_REAL hpp::fcl::CollisionGeometry::computeVolume () const
 compute the volume
 
virtual Matrix3f hpp::fcl::CollisionGeometry::computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com
 
 hpp::fcl::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, bool compute_local_aabb=true)
 
 hpp::fcl::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Transform3f &tf, bool compute_local_aabb=true)
 
 hpp::fcl::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Matrix3f &R, const Vec3f &T, bool compute_local_aabb=true)
 
bool hpp::fcl::CollisionObject::operator== (const CollisionObject &other) const
 
bool hpp::fcl::CollisionObject::operator!= (const CollisionObject &other) const
 
 hpp::fcl::CollisionObject::~CollisionObject ()
 
OBJECT_TYPE hpp::fcl::CollisionObject::getObjectType () const
 get the type of the object
 
NODE_TYPE hpp::fcl::CollisionObject::getNodeType () const
 get the node type
 
const AABBhpp::fcl::CollisionObject::getAABB () const
 get the AABB in world space
 
AABBhpp::fcl::CollisionObject::getAABB ()
 get the AABB in world space
 
void hpp::fcl::CollisionObject::computeAABB ()
 compute the AABB in world space
 
void * hpp::fcl::CollisionObject::getUserData () const
 get user data in object
 
void hpp::fcl::CollisionObject::setUserData (void *data)
 set user data in object
 
const Vec3fhpp::fcl::CollisionObject::getTranslation () const
 get translation of the object
 
const Matrix3fhpp::fcl::CollisionObject::getRotation () const
 get matrix rotation of the object
 
const Transform3fhpp::fcl::CollisionObject::getTransform () const
 get object's transform
 
void hpp::fcl::CollisionObject::setRotation (const Matrix3f &R)
 set object's rotation matrix
 
void hpp::fcl::CollisionObject::setTranslation (const Vec3f &T)
 set object's translation
 
void hpp::fcl::CollisionObject::setTransform (const Matrix3f &R, const Vec3f &T)
 set object's transform
 
void hpp::fcl::CollisionObject::setTransform (const Transform3f &tf)
 set object's transform
 
bool hpp::fcl::CollisionObject::isIdentityTransform () const
 whether the object is in local coordinate
 
void hpp::fcl::CollisionObject::setIdentityTransform ()
 set the object in local coordinate
 
const shared_ptr< const CollisionGeometryhpp::fcl::CollisionObject::collisionGeometry () const
 get shared pointer to collision geometry of the object instance
 
const shared_ptr< CollisionGeometry > & hpp::fcl::CollisionObject::collisionGeometry ()
 get shared pointer to collision geometry of the object instance
 
const CollisionGeometryhpp::fcl::CollisionObject::collisionGeometryPtr () const
 get raw pointer to collision geometry of the object instance
 
CollisionGeometryhpp::fcl::CollisionObject::collisionGeometryPtr ()
 get raw pointer to collision geometry of the object instance
 
void hpp::fcl::CollisionObject::setCollisionGeometry (const shared_ptr< CollisionGeometry > &collision_geometry, bool compute_local_aabb=true)
 Associate a new CollisionGeometry.
 
void hpp::fcl::CollisionObject::init (bool compute_local_aabb=true)
 

Variables

int hpp::fcl::BVNodeBase::first_child
 An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.
 
unsigned int hpp::fcl::BVNodeBase::first_primitive
 The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.
 
unsigned int hpp::fcl::BVNodeBase::num_primitives
 The number of primitives belonging to the current node.
 
BV hpp::fcl::BVNode< BV >::bv
 bounding volume storing the geometry
 
Vec3f hpp::fcl::CollisionGeometry::aabb_center
 AABB center in local coordinate.
 
FCL_REAL hpp::fcl::CollisionGeometry::aabb_radius
 AABB radius.
 
AABB hpp::fcl::CollisionGeometry::aabb_local
 AABB in local coordinate, used for tight AABB when only translation transform.
 
void * hpp::fcl::CollisionGeometry::user_data
 pointer to user defined data specific to this object
 
FCL_REAL hpp::fcl::CollisionGeometry::cost_density
 collision cost for unit volume
 
FCL_REAL hpp::fcl::CollisionGeometry::threshold_occupied
 threshold for occupied ( >= is occupied)
 
FCL_REAL hpp::fcl::CollisionGeometry::threshold_free
 threshold for free (<= is free)
 
shared_ptr< CollisionGeometryhpp::fcl::CollisionObject::cgeom
 
Transform3f hpp::fcl::CollisionObject::t
 
AABB hpp::fcl::CollisionObject::aabb
 AABB in global coordinate.
 
void * hpp::fcl::CollisionObject::user_data
 pointer to user defined data specific to this object
 

Detailed Description

Classes which are used to build a BVHModel (Bounding Volume Hierarchy)

Typedef Documentation

◆ Base

template<typename BV >
typedef BVNodeBase hpp::fcl::BVNode< BV >::Base

Function Documentation

◆ BVNodeBase()

hpp::fcl::BVNodeBase::BVNodeBase ( )
inline

Default constructor.

◆ clone()

◆ CollisionGeometry() [1/2]

hpp::fcl::CollisionGeometry::CollisionGeometry ( )
inline

◆ CollisionGeometry() [2/2]

hpp::fcl::CollisionGeometry::CollisionGeometry ( const CollisionGeometry & other)
default

Copy constructor.

◆ collisionGeometry() [1/2]

const shared_ptr< CollisionGeometry > & hpp::fcl::CollisionObject::collisionGeometry ( )
inline

get shared pointer to collision geometry of the object instance

◆ collisionGeometry() [2/2]

const shared_ptr< const CollisionGeometry > hpp::fcl::CollisionObject::collisionGeometry ( ) const
inline

get shared pointer to collision geometry of the object instance

◆ collisionGeometryPtr() [1/2]

CollisionGeometry * hpp::fcl::CollisionObject::collisionGeometryPtr ( )
inline

get raw pointer to collision geometry of the object instance

◆ collisionGeometryPtr() [2/2]

const CollisionGeometry * hpp::fcl::CollisionObject::collisionGeometryPtr ( ) const
inline

get raw pointer to collision geometry of the object instance

◆ CollisionObject() [1/3]

hpp::fcl::CollisionObject::CollisionObject ( const shared_ptr< CollisionGeometry > & cgeom_,
bool compute_local_aabb = true )
inline

◆ CollisionObject() [2/3]

hpp::fcl::CollisionObject::CollisionObject ( const shared_ptr< CollisionGeometry > & cgeom_,
const Matrix3f & R,
const Vec3f & T,
bool compute_local_aabb = true )
inline

◆ CollisionObject() [3/3]

hpp::fcl::CollisionObject::CollisionObject ( const shared_ptr< CollisionGeometry > & cgeom_,
const Transform3f & tf,
bool compute_local_aabb = true )
inline

◆ computeAABB()

void hpp::fcl::CollisionObject::computeAABB ( )
inline

compute the AABB in world space

◆ computeCOM()

virtual Vec3f hpp::fcl::CollisionGeometry::computeCOM ( ) const
inlinevirtual

◆ computeLocalAABB()

virtual void hpp::fcl::CollisionGeometry::computeLocalAABB ( )
pure virtual

◆ computeMomentofInertia()

virtual Matrix3f hpp::fcl::CollisionGeometry::computeMomentofInertia ( ) const
inlinevirtual

◆ computeMomentofInertiaRelatedToCOM()

virtual Matrix3f hpp::fcl::CollisionGeometry::computeMomentofInertiaRelatedToCOM ( ) const
inlinevirtual

compute the inertia matrix, related to the com

◆ computeVolume()

virtual FCL_REAL hpp::fcl::CollisionGeometry::computeVolume ( ) const
inlinevirtual

◆ distance()

template<typename BV >
FCL_REAL hpp::fcl::BVNode< BV >::distance ( const BVNode< BV > & other,
Vec3f * P1 = NULL,
Vec3f * P2 = NULL ) const
inline

Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

◆ getAABB() [1/2]

AABB & hpp::fcl::CollisionObject::getAABB ( )
inline

get the AABB in world space

◆ getAABB() [2/2]

const AABB & hpp::fcl::CollisionObject::getAABB ( ) const
inline

get the AABB in world space

◆ getCenter()

template<typename BV >
Vec3f hpp::fcl::BVNode< BV >::getCenter ( ) const
inline

Access to the center of the BV.

◆ getNodeType() [1/2]

◆ getNodeType() [2/2]

NODE_TYPE hpp::fcl::CollisionObject::getNodeType ( ) const
inline

get the node type

◆ getObjectType() [1/2]

virtual OBJECT_TYPE hpp::fcl::CollisionGeometry::getObjectType ( ) const
inlinevirtual

get the type of the object

Reimplemented in hpp::fcl::BVHModelBase, hpp::fcl::HeightField< BV >, hpp::fcl::OcTree, and hpp::fcl::ShapeBase.

◆ getObjectType() [2/2]

OBJECT_TYPE hpp::fcl::CollisionObject::getObjectType ( ) const
inline

get the type of the object

◆ getOrientation()

template<typename BV >
const Matrix3f & hpp::fcl::BVNode< BV >::getOrientation ( ) const
inline

Access to the orientation of the BV.

◆ getRotation()

const Matrix3f & hpp::fcl::CollisionObject::getRotation ( ) const
inline

get matrix rotation of the object

◆ getTransform()

const Transform3f & hpp::fcl::CollisionObject::getTransform ( ) const
inline

get object's transform

◆ getTranslation()

const Vec3f & hpp::fcl::CollisionObject::getTranslation ( ) const
inline

get translation of the object

◆ getUserData() [1/2]

void * hpp::fcl::CollisionGeometry::getUserData ( ) const
inline

get user data in geometry

◆ getUserData() [2/2]

void * hpp::fcl::CollisionObject::getUserData ( ) const
inline

get user data in object

◆ init()

void hpp::fcl::CollisionObject::init ( bool compute_local_aabb = true)
inlineprotected

◆ isFree()

bool hpp::fcl::CollisionGeometry::isFree ( ) const
inline

whether the object is completely free

◆ isIdentityTransform()

bool hpp::fcl::CollisionObject::isIdentityTransform ( ) const
inline

whether the object is in local coordinate

◆ isLeaf()

bool hpp::fcl::BVNodeBase::isLeaf ( ) const
inline

Whether current node is a leaf node (i.e. contains a primitive index.

◆ isOccupied()

bool hpp::fcl::CollisionGeometry::isOccupied ( ) const
inline

whether the object is completely occupied

◆ isUncertain()

bool hpp::fcl::CollisionGeometry::isUncertain ( ) const

whether the object has some uncertainty

◆ leftChild()

int hpp::fcl::BVNodeBase::leftChild ( ) const
inline

Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

◆ operator!=() [1/4]

template<typename BV >
bool hpp::fcl::BVNode< BV >::operator!= ( const BVNode< BV > & other) const
inline

Difference operator.

◆ operator!=() [2/4]

bool hpp::fcl::BVNodeBase::operator!= ( const BVNodeBase & other) const
inline

Difference operator.

◆ operator!=() [3/4]

bool hpp::fcl::CollisionGeometry::operator!= ( const CollisionGeometry & other) const
inline

Difference operator.

◆ operator!=() [4/4]

bool hpp::fcl::CollisionObject::operator!= ( const CollisionObject & other) const
inline

◆ operator==() [1/4]

template<typename BV >
bool hpp::fcl::BVNode< BV >::operator== ( const BVNode< BV > & other) const
inline

Equality operator.

◆ operator==() [2/4]

bool hpp::fcl::BVNodeBase::operator== ( const BVNodeBase & other) const
inline

Equality operator.

◆ operator==() [3/4]

bool hpp::fcl::CollisionGeometry::operator== ( const CollisionGeometry & other) const
inline

Equality operator.

◆ operator==() [4/4]

bool hpp::fcl::CollisionObject::operator== ( const CollisionObject & other) const
inline

◆ overlap() [1/2]

template<typename BV >
bool hpp::fcl::BVNode< BV >::overlap ( const BVNode< BV > & other) const
inline

Check whether two BVNode collide.

◆ overlap() [2/2]

template<typename BV >
bool hpp::fcl::BVNode< BV >::overlap ( const BVNode< BV > & other,
const CollisionRequest & request,
FCL_REAL & sqrDistLowerBound ) const
inline

Check whether two BVNode collide.

◆ primitiveId()

int hpp::fcl::BVNodeBase::primitiveId ( ) const
inline

Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.

◆ rightChild()

int hpp::fcl::BVNodeBase::rightChild ( ) const
inline

Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

◆ setCollisionGeometry()

void hpp::fcl::CollisionObject::setCollisionGeometry ( const shared_ptr< CollisionGeometry > & collision_geometry,
bool compute_local_aabb = true )
inline

Associate a new CollisionGeometry.

Parameters
[in]collision_geometryThe new CollisionGeometry
[in]compute_local_aabbWhether the local aabb of the input new has to be computed.

◆ setIdentityTransform()

void hpp::fcl::CollisionObject::setIdentityTransform ( )
inline

set the object in local coordinate

◆ setRotation()

void hpp::fcl::CollisionObject::setRotation ( const Matrix3f & R)
inline

set object's rotation matrix

◆ setTransform() [1/2]

void hpp::fcl::CollisionObject::setTransform ( const Matrix3f & R,
const Vec3f & T )
inline

set object's transform

◆ setTransform() [2/2]

void hpp::fcl::CollisionObject::setTransform ( const Transform3f & tf)
inline

set object's transform

◆ setTranslation()

void hpp::fcl::CollisionObject::setTranslation ( const Vec3f & T)
inline

set object's translation

◆ setUserData() [1/2]

void hpp::fcl::CollisionGeometry::setUserData ( void * data)
inline

set user data in geometry

◆ setUserData() [2/2]

void hpp::fcl::CollisionObject::setUserData ( void * data)
inline

set user data in object

◆ ~CollisionGeometry()

virtual hpp::fcl::CollisionGeometry::~CollisionGeometry ( )
inlinevirtual

◆ ~CollisionObject()

hpp::fcl::CollisionObject::~CollisionObject ( )
inline

Variable Documentation

◆ aabb

AABB hpp::fcl::CollisionObject::aabb
mutableprotected

AABB in global coordinate.

◆ aabb_center

Vec3f hpp::fcl::CollisionGeometry::aabb_center

AABB center in local coordinate.

◆ aabb_local

AABB hpp::fcl::CollisionGeometry::aabb_local

AABB in local coordinate, used for tight AABB when only translation transform.

◆ aabb_radius

FCL_REAL hpp::fcl::CollisionGeometry::aabb_radius

AABB radius.

◆ bv

template<typename BV >
BV hpp::fcl::BVNode< BV >::bv

bounding volume storing the geometry

◆ cgeom

shared_ptr<CollisionGeometry> hpp::fcl::CollisionObject::cgeom
protected

◆ cost_density

FCL_REAL hpp::fcl::CollisionGeometry::cost_density

collision cost for unit volume

◆ first_child

int hpp::fcl::BVNodeBase::first_child

An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.

◆ first_primitive

unsigned int hpp::fcl::BVNodeBase::first_primitive

The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.

◆ num_primitives

unsigned int hpp::fcl::BVNodeBase::num_primitives

The number of primitives belonging to the current node.

◆ t

Transform3f hpp::fcl::CollisionObject::t
protected

◆ threshold_free

FCL_REAL hpp::fcl::CollisionGeometry::threshold_free

threshold for free (<= is free)

◆ threshold_occupied

FCL_REAL hpp::fcl::CollisionGeometry::threshold_occupied

threshold for occupied ( >= is occupied)

◆ user_data [1/2]

void* hpp::fcl::CollisionGeometry::user_data

pointer to user defined data specific to this object

◆ user_data [2/2]

void* hpp::fcl::CollisionObject::user_data
protected

pointer to user defined data specific to this object