Public Member Functions | Public Attributes
fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver > Class Template Reference

Traversal node for octree-shape collision. More...

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

Inheritance diagram for fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >:
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Collaboration diagram for fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >:
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List of all members.

Public Member Functions

 OcTreeShapeCollisionTraversalNode ()
bool BVTesting (int, int) const
 BV test between b1 and b2.
bool BVTesting (int, int, fcl::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 S * model2
Transform3f tf1
 configuation of first object
Transform3f tf2
 configuration of second object
const OcTreeSolver
< NarrowPhaseSolver > * 
otsolver

Detailed Description

template<typename S, typename NarrowPhaseSolver>
class fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >

Traversal node for octree-shape collision.


Constructor & Destructor Documentation

template<typename S, typename NarrowPhaseSolver>
fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >::OcTreeShapeCollisionTraversalNode ( ) [inline]

Member Function Documentation

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

BV test between b1 and b2.

Implements fcl::CollisionTraversalNodeBase.

template<typename S, typename NarrowPhaseSolver>
bool fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >::BVTesting ( int  b1,
int  b2,
fcl::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 S, typename NarrowPhaseSolver>
void fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >::leafTesting ( int  ,
int  ,
FCL_REAL  
) const [inline, virtual]

Member Data Documentation

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

configuation of first object

Reimplemented from fcl::TraversalNodeBase.

Referenced by fcl::initialize().

template<typename S, typename NarrowPhaseSolver>
Transform3f fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >::tf2

configuration of second object

Reimplemented from fcl::TraversalNodeBase.

Referenced by fcl::initialize().

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