class for EPA algorithm
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#include <hpp/fcl/narrowphase/gjk.h>
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| EPA (unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_) |
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| ~EPA () |
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void | initialize () |
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bool | getEdgeDist (SimplexF *face, SimplexV *a, SimplexV *b, FCL_REAL &dist) |
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SimplexF * | newFace (SimplexV *a, SimplexV *b, SimplexV *vertex, bool forced) |
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SimplexF * | findBest () |
| Find the best polytope face to split. More...
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Status | evaluate (GJK &gjk, const Vec3f &guess) |
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bool | expand (size_t pass, SimplexV *w, SimplexF *f, size_t e, SimplexHorizon &horizon) |
| the goal is to add a face connecting vertex w and face edge f[e] More...
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◆ Status
Enumerator |
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Valid | |
Touching | |
Degenerated | |
NonConvex | |
InvalidHull | |
OutOfFaces | |
OutOfVertices | |
AccuracyReached | |
FallBack | |
Failed | |
◆ EPA()
hpp::fcl::details::EPA::EPA |
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unsigned int |
max_face_num_, |
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unsigned int |
max_vertex_num_, |
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unsigned int |
max_iterations_, |
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FCL_REAL |
tolerance_ |
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) |
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inline |
◆ ~EPA()
hpp::fcl::details::EPA::~EPA |
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inline |
◆ evaluate()
Status hpp::fcl::details::EPA::evaluate |
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GJK & |
gjk, |
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const Vec3f & |
guess |
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◆ expand()
bool hpp::fcl::details::EPA::expand |
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size_t |
pass, |
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SimplexV * |
w, |
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SimplexF * |
f, |
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size_t |
e, |
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SimplexHorizon & |
horizon |
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) |
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the goal is to add a face connecting vertex w and face edge f[e]
◆ findBest()
SimplexF* hpp::fcl::details::EPA::findBest |
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Find the best polytope face to split.
◆ getEdgeDist()
◆ initialize()
void hpp::fcl::details::EPA::initialize |
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◆ newFace()
◆ depth
◆ fc_store
SimplexF* hpp::fcl::details::EPA::fc_store |
◆ hull
SimplexList hpp::fcl::details::EPA::hull |
◆ nextsv
size_t hpp::fcl::details::EPA::nextsv |
◆ normal
Vec3f hpp::fcl::details::EPA::normal |
◆ result
◆ status
Status hpp::fcl::details::EPA::status |
◆ stock
SimplexList hpp::fcl::details::EPA::stock |
◆ sv_store
SimplexV* hpp::fcl::details::EPA::sv_store |