Classes | Public Types | Public Member Functions | Public Attributes | List of all members
hpp::fcl::details::EPA Struct Reference

class for EPA algorithm More...

#include <hpp/fcl/narrowphase/gjk.h>

Collaboration diagram for hpp::fcl::details::EPA:
[legend]

Public Types

enum  Status {
  Valid,
  Touching,
  Degenerated,
  NonConvex,
  InvalidHull,
  OutOfFaces,
  OutOfVertices,
  AccuracyReached,
  FallBack,
  Failed
}
 

Public Member Functions

 EPA (unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_)
 
 ~EPA ()
 
void initialize ()
 
Status evaluate (GJK &gjk, const Vec3f &guess)
 

Public Attributes

Status status
 
GJK::Simplex result
 
Vec3f normal
 
FCL_REAL depth
 
SimplexVsv_store
 
SimplexF * fc_store
 
size_t nextsv
 
SimplexList hull
 
SimplexList stock
 

Detailed Description

class for EPA algorithm

Member Enumeration Documentation

◆ Status

Enumerator
Valid 
Touching 
Degenerated 
NonConvex 
InvalidHull 
OutOfFaces 
OutOfVertices 
AccuracyReached 
FallBack 
Failed 

Constructor & Destructor Documentation

◆ EPA()

hpp::fcl::details::EPA::EPA ( unsigned int  max_face_num_,
unsigned int  max_vertex_num_,
unsigned int  max_iterations_,
FCL_REAL  tolerance_ 
)
inline

References initialize().

◆ ~EPA()

hpp::fcl::details::EPA::~EPA ( )
inline

References initialize().

Member Function Documentation

◆ evaluate()

Status hpp::fcl::details::EPA::evaluate ( GJK gjk,
const Vec3f guess 
)

◆ initialize()

void hpp::fcl::details::EPA::initialize ( )

Member Data Documentation

◆ depth

FCL_REAL hpp::fcl::details::EPA::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

GJK::Simplex hpp::fcl::details::EPA::result

◆ status

Status hpp::fcl::details::EPA::status

◆ stock

SimplexList hpp::fcl::details::EPA::stock

◆ sv_store

SimplexV* hpp::fcl::details::EPA::sv_store