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fcl::implementation_array::HierarchyTree< BV > Class Template Reference

Class for hierarchy tree structure. More...

#include <hpp/fcl/broadphase/hierarchy_tree.h>

Collaboration diagram for fcl::implementation_array::HierarchyTree< BV >:
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Public Member Functions

 HierarchyTree (int bu_threshold_=16, int topdown_level_=0)
 Create hierarchy tree with suitable setting. More...
 
 ~HierarchyTree ()
 
void init (NodeType *leaves, int n_leaves_, int level=0)
 Initialize the tree by a set of leaves using algorithm with a given level. More...
 
size_t insert (const BV &bv, void *data)
 Initialize the tree by a set of leaves using algorithm with a given level. More...
 
void remove (size_t leaf)
 Remove a leaf node. More...
 
void clear ()
 Clear the tree. More...
 
bool empty () const
 Whether the tree is empty. More...
 
void update (size_t leaf, int lookahead_level=-1)
 update one leaf node More...
 
bool update (size_t leaf, const BV &bv)
 update the tree when the bounding volume of a given leaf has changed More...
 
bool update (size_t leaf, const BV &bv, const Vec3f &vel, FCL_REAL margin)
 update one leaf's bounding volume, with prediction More...
 
bool update (size_t leaf, const BV &bv, const Vec3f &vel)
 update one leaf's bounding volume, with prediction More...
 
size_t getMaxHeight () const
 get the max height of the tree More...
 
size_t getMaxDepth () const
 get the max depth of the tree More...
 
void balanceBottomup ()
 balance the tree from bottom More...
 
void balanceTopdown ()
 balance the tree from top More...
 
void balanceIncremental (int iterations)
 balance the tree in an incremental way More...
 
void refit ()
 refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner More...
 
void extractLeaves (size_t root, NodeType *&leaves) const
 extract all the leaves of the tree More...
 
size_t size () const
 number of leaves in the tree More...
 
size_t getRoot () const
 get the root of the tree More...
 
NodeTypegetNodes () const
 get the pointer to the nodes array More...
 
void print (size_t root, int depth)
 print the tree in a recursive way More...
 

Public Attributes

int topdown_level
 decide which topdown algorithm to use More...
 
int bu_threshold
 decide the depth to use expensive bottom-up algorithm More...
 

Static Public Attributes

static const size_t NULL_NODE = -1
 

Protected Attributes

size_t root_node
 
NodeTypenodes
 
size_t n_nodes
 
size_t n_nodes_alloc
 
size_t n_leaves
 
size_t freelist
 
unsigned int opath
 
int max_lookahead_level
 

Detailed Description

template<typename BV>
class fcl::implementation_array::HierarchyTree< BV >

Class for hierarchy tree structure.

Constructor & Destructor Documentation

◆ HierarchyTree()

template<typename BV >
fcl::implementation_array::HierarchyTree< BV >::HierarchyTree ( int  bu_threshold_ = 16,
int  topdown_level_ = 0 
)

Create hierarchy tree with suitable setting.

bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower.

◆ ~HierarchyTree()

template<typename BV >
fcl::implementation_array::HierarchyTree< BV >::~HierarchyTree ( )

Member Function Documentation

◆ balanceBottomup()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::balanceBottomup ( )

balance the tree from bottom

◆ balanceIncremental()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::balanceIncremental ( int  iterations)

balance the tree in an incremental way

◆ balanceTopdown()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::balanceTopdown ( )

balance the tree from top

◆ clear()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::clear ( )

Clear the tree.

◆ empty()

template<typename BV >
bool fcl::implementation_array::HierarchyTree< BV >::empty ( ) const

Whether the tree is empty.

◆ extractLeaves()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::extractLeaves ( size_t  root,
NodeType *&  leaves 
) const

extract all the leaves of the tree

◆ getMaxDepth()

template<typename BV >
size_t fcl::implementation_array::HierarchyTree< BV >::getMaxDepth ( ) const

get the max depth of the tree

Referenced by fcl::implementation_array::HierarchyTree< fcl::AABB >::print().

◆ getMaxHeight()

template<typename BV >
size_t fcl::implementation_array::HierarchyTree< BV >::getMaxHeight ( ) const

get the max height of the tree

Referenced by fcl::implementation_array::HierarchyTree< fcl::AABB >::print().

◆ getNodes()

template<typename BV >
HierarchyTree< BV >::NodeType * fcl::implementation_array::HierarchyTree< BV >::getNodes ( ) const

get the pointer to the nodes array

◆ getRoot()

template<typename BV >
size_t fcl::implementation_array::HierarchyTree< BV >::getRoot ( ) const

get the root of the tree

◆ init()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::init ( NodeType leaves,
int  n_leaves_,
int  level = 0 
)

Initialize the tree by a set of leaves using algorithm with a given level.

◆ insert()

template<typename BV>
size_t fcl::implementation_array::HierarchyTree< BV >::insert ( const BV &  bv,
void *  data 
)

Initialize the tree by a set of leaves using algorithm with a given level.

◆ print()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::print ( size_t  root,
int  depth 
)

print the tree in a recursive way

◆ refit()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::refit ( )

refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner

◆ remove()

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::remove ( size_t  leaf)

Remove a leaf node.

◆ size()

template<typename BV >
size_t fcl::implementation_array::HierarchyTree< BV >::size ( ) const

number of leaves in the tree

◆ update() [1/4]

template<typename BV >
void fcl::implementation_array::HierarchyTree< BV >::update ( size_t  leaf,
int  lookahead_level = -1 
)

update one leaf node

◆ update() [2/4]

template<typename BV>
bool fcl::implementation_array::HierarchyTree< BV >::update ( size_t  leaf,
const BV &  bv 
)

update the tree when the bounding volume of a given leaf has changed

◆ update() [3/4]

template<typename BV>
bool fcl::implementation_array::HierarchyTree< BV >::update ( size_t  leaf,
const BV &  bv,
const Vec3f vel,
FCL_REAL  margin 
)

update one leaf's bounding volume, with prediction

◆ update() [4/4]

template<typename BV>
bool fcl::implementation_array::HierarchyTree< BV >::update ( size_t  leaf,
const BV &  bv,
const Vec3f vel 
)

update one leaf's bounding volume, with prediction

Member Data Documentation

◆ bu_threshold

template<typename BV>
int fcl::implementation_array::HierarchyTree< BV >::bu_threshold

decide the depth to use expensive bottom-up algorithm

◆ freelist

template<typename BV>
size_t fcl::implementation_array::HierarchyTree< BV >::freelist
protected

◆ max_lookahead_level

template<typename BV>
int fcl::implementation_array::HierarchyTree< BV >::max_lookahead_level
protected

◆ n_leaves

template<typename BV>
size_t fcl::implementation_array::HierarchyTree< BV >::n_leaves
protected

◆ n_nodes

template<typename BV>
size_t fcl::implementation_array::HierarchyTree< BV >::n_nodes
protected

◆ n_nodes_alloc

template<typename BV>
size_t fcl::implementation_array::HierarchyTree< BV >::n_nodes_alloc
protected

◆ nodes

template<typename BV>
NodeType* fcl::implementation_array::HierarchyTree< BV >::nodes
protected

◆ NULL_NODE

template<typename BV>
const size_t fcl::implementation_array::HierarchyTree< BV >::NULL_NODE = -1
static

◆ opath

template<typename BV>
unsigned int fcl::implementation_array::HierarchyTree< BV >::opath
protected

◆ root_node

template<typename BV>
size_t fcl::implementation_array::HierarchyTree< BV >::root_node
protected

◆ topdown_level

template<typename BV>
int fcl::implementation_array::HierarchyTree< BV >::topdown_level

decide which topdown algorithm to use