Public Member Functions | Public Attributes
fcl::TraversalNodeBase Class Reference

Node structure encoding the information required for traversal. More...

#include <hpp/fcl/traversal/traversal_node_base.h>

Inheritance diagram for fcl::TraversalNodeBase:
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Collaboration diagram for fcl::TraversalNodeBase:
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List of all members.

Public Member Functions

virtual ~TraversalNodeBase ()
virtual void preprocess ()
virtual void postprocess ()
virtual bool isFirstNodeLeaf (int b) const
 Whether b is a leaf node in the first BVH tree.
virtual bool isSecondNodeLeaf (int b) const
 Whether b is a leaf node in the second BVH tree.
virtual bool firstOverSecond (int b1, int b2) const
 Traverse the subtree of the node in the first tree first.
virtual int getFirstLeftChild (int b) const
 Get the left child of the node b in the first tree.
virtual int getFirstRightChild (int b) const
 Get the right child of the node b in the first tree.
virtual int getSecondLeftChild (int b) const
 Get the left child of the node b in the second tree.
virtual int getSecondRightChild (int b) const
 Get the right child of the node b in the second tree.
virtual void enableStatistics (bool enable)=0
 Enable statistics (verbose mode)

Public Attributes

Transform3f tf1
 configuation of first object
Transform3f tf2
 configuration of second object

Detailed Description

Node structure encoding the information required for traversal.


Constructor & Destructor Documentation

virtual fcl::TraversalNodeBase::~TraversalNodeBase ( ) [virtual]

Member Function Documentation

virtual void fcl::TraversalNodeBase::enableStatistics ( bool  enable) [pure virtual]

Enable statistics (verbose mode)

Implemented in fcl::DistanceTraversalNodeBase, and fcl::CollisionTraversalNodeBase.

virtual bool fcl::TraversalNodeBase::firstOverSecond ( int  b1,
int  b2 
) const [virtual]
virtual int fcl::TraversalNodeBase::getFirstLeftChild ( int  b) const [virtual]
virtual int fcl::TraversalNodeBase::getFirstRightChild ( int  b) const [virtual]
virtual int fcl::TraversalNodeBase::getSecondLeftChild ( int  b) const [virtual]
virtual int fcl::TraversalNodeBase::getSecondRightChild ( int  b) const [virtual]
virtual bool fcl::TraversalNodeBase::isFirstNodeLeaf ( int  b) const [virtual]
virtual bool fcl::TraversalNodeBase::isSecondNodeLeaf ( int  b) const [virtual]
virtual void fcl::TraversalNodeBase::postprocess ( ) [inline, virtual]
virtual void fcl::TraversalNodeBase::preprocess ( ) [inline, virtual]

Member Data Documentation

configuation of first object

Reimplemented in fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >, fcl::ShapeOcTreeCollisionTraversalNode< S, NarrowPhaseSolver >, and fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >.

Referenced by fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting().

configuration of second object

Reimplemented in fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >, fcl::ShapeOcTreeCollisionTraversalNode< S, NarrowPhaseSolver >, and fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >.

Referenced by fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting(), and fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting().

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