Public Member Functions | Public Attributes
fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver > Class Template Reference

Traversal node for octree collision. More...

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

Inheritance diagram for fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >:
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Collaboration diagram for fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >:
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List of all members.

Public Member Functions

 OcTreeCollisionTraversalNode ()
bool BVTesting (int, int) const
 BV test between b1 and b2.
bool BVTesting (int, int, FCL_REAL &) const
 BV test between b1 and b2.
void leafTesting (int, int, FCL_REAL &) const
 Leaf test between node b1 and b2, if they are both leafs.

Public Attributes

const OcTreemodel1
const OcTreemodel2
Transform3f tf1
 configuation of first object
Transform3f tf2
 configuration of second object
const OcTreeSolver
< NarrowPhaseSolver > * 
otsolver

Detailed Description

template<typename NarrowPhaseSolver>
class fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >

Traversal node for octree collision.


Constructor & Destructor Documentation

template<typename NarrowPhaseSolver>
fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::OcTreeCollisionTraversalNode ( ) [inline]

Member Function Documentation

template<typename NarrowPhaseSolver>
bool fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::BVTesting ( int  b1,
int  b2 
) const [inline, virtual]

BV test between b1 and b2.

Implements fcl::CollisionTraversalNodeBase.

template<typename NarrowPhaseSolver>
bool fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::BVTesting ( int  b1,
int  b2,
FCL_REAL sqrDistLowerBound 
) const [inline, virtual]

BV test between b1 and b2.

Parameters:
b1,b2Bounding volumes to test,
Return values:
sqrDistLowerBoundsquare of a lower bound of the minimal distance between bounding volumes.

Implements fcl::CollisionTraversalNodeBase.

template<typename NarrowPhaseSolver>
void fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::leafTesting ( int  ,
int  ,
FCL_REAL  
) const [inline, virtual]

Member Data Documentation

template<typename NarrowPhaseSolver>
const OcTree* fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::model1
template<typename NarrowPhaseSolver>
const OcTree* fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::model2
template<typename NarrowPhaseSolver>
const OcTreeSolver<NarrowPhaseSolver>* fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::otsolver
template<typename NarrowPhaseSolver>
Transform3f fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::tf1

configuation of first object

Reimplemented from fcl::TraversalNodeBase.

Referenced by fcl::initialize().

template<typename NarrowPhaseSolver>
Transform3f fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >::tf2

configuration of second object

Reimplemented from fcl::TraversalNodeBase.

Referenced by fcl::initialize().

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