FCL  0.6.0
Flexible Collision Library
mesh_octree_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_MESHOCTREECOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_OCTREE_MESHOCTREECOLLISIONTRAVERSALNODE_H
40 
41 #include "fcl/config.h"
42 #if not(FCL_HAVE_OCTOMAP)
43 #error "This header requires fcl to be compiled with octomap support"
44 #endif
45 
46 #include "fcl/geometry/octree/octree.h"
47 #include "fcl/geometry/bvh/BVH_model.h"
48 #include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"
49 #include "fcl/narrowphase/detail/traversal/octree/octree_solver.h"
50 
51 namespace fcl
52 {
53 
54 namespace detail
55 {
56 
58 template <typename BV, typename NarrowPhaseSolver>
60  : public CollisionTraversalNodeBase<typename BV::S>
61 {
62 public:
63 
64  using S = typename BV::S;
65 
67 
68  bool BVTesting(int, int) const;
69 
70  void leafTesting(int, int) const;
71 
72  const BVHModel<BV>* model1;
73  const OcTree<S>* model2;
74 
75  Transform3<S> tf1;
76  Transform3<S> tf2;
77 
78  const OcTreeSolver<NarrowPhaseSolver>* otsolver;
79 
80  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 };
82 
85 template <typename BV, typename NarrowPhaseSolver>
86 bool initialize(
88  const BVHModel<BV>& model1,
89  const Transform3<typename BV::S>& tf1,
90  const OcTree<typename BV::S>& model2,
91  const Transform3<typename BV::S>& tf2,
92  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
95 
96 } // namespace detail
97 } // namespace fcl
98 
99 #include "fcl/narrowphase/detail/traversal/octree/collision/mesh_octree_collision_traversal_node-inl.h"
100 
101 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
collision result
Definition: collision_request.h:48
bool BVTesting(int, int) const
BV test between b1 and b2.
Definition: mesh_octree_collision_traversal_node-inl.h:63
CollisionRequest< BV::S > request
request setting for collision
Definition: collision_traversal_node_base.h:72
Node structure encoding the information required for collision traversal.
Definition: collision_traversal_node_base.h:52
request to the collision algorithm
Definition: collision_request.h:52
Algorithms for collision related with octree.
Definition: octree_solver.h:59
void leafTesting(int, int) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: mesh_octree_collision_traversal_node-inl.h:71
Traversal node for mesh-octree collision.
Definition: mesh_octree_collision_traversal_node.h:59
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:57
CollisionResult< BV::S > * result
collision result kept during the traversal iteration
Definition: collision_traversal_node_base.h:75