12 #include <../src/collision_node.h>
14 #include <../src/distance_func_matrix.h>
23 template <
typename TypeA,
typename TypeB>
28 #ifdef HPP_FCL_HAVE_OCTOMAP
30 template <
typename T_SH>
33 typedef ShapeOcTreeCollisionTraversalNode<T_SH> CollisionTraversal_t;
36 template <
typename T_SH>
37 struct TraversalTraitsCollision <OcTree, T_SH>
39 typedef OcTreeShapeCollisionTraversalNode<T_SH> CollisionTraversal_t;
43 struct TraversalTraitsCollision <OcTree, OcTree>
45 typedef OcTreeCollisionTraversalNode CollisionTraversal_t;
48 template <
typename T_BVH>
49 struct TraversalTraitsCollision <OcTree, BVHModel<T_BVH> >
51 typedef OcTreeMeshCollisionTraversalNode<T_BVH> CollisionTraversal_t;
54 template <
typename T_BVH>
55 struct TraversalTraitsCollision <BVHModel<T_BVH>, OcTree>
57 typedef MeshOcTreeCollisionTraversalNode<T_BVH> CollisionTraversal_t;
64 template <
typename TypeA,
typename TypeB>
69 #ifdef HPP_FCL_HAVE_OCTOMAP
71 template <
typename T_SH>
74 typedef ShapeOcTreeDistanceTraversalNode<T_SH> CollisionTraversal_t;
77 template <
typename T_SH>
78 struct TraversalTraitsDistance <OcTree, T_SH>
80 typedef OcTreeShapeDistanceTraversalNode<T_SH> CollisionTraversal_t;
84 struct TraversalTraitsDistance <OcTree, OcTree>
86 typedef OcTreeDistanceTraversalNode CollisionTraversal_t;
89 template <
typename T_BVH>
90 struct TraversalTraitsDistance <OcTree, BVHModel<T_BVH> >
92 typedef OcTreeMeshDistanceTraversalNode<T_BVH> CollisionTraversal_t;
95 template <
typename T_BVH>
96 struct TraversalTraitsDistance <BVHModel<T_BVH>, OcTree>
98 typedef MeshOcTreeDistanceTraversalNode<T_BVH> CollisionTraversal_t;