FCL  0.6.0
Flexible Collision Library
shape_distance_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_SHAPEDISTANCETRAVERSALNODE_H
39 #define FCL_TRAVERSAL_SHAPEDISTANCETRAVERSALNODE_H
40 
41 #include "fcl/narrowphase/detail/traversal/traversal_node_base.h"
42 #include "fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template<typename Shape1, typename Shape2, typename NarrowPhaseSolver>
53  : public DistanceTraversalNodeBase<typename Shape1::S>
54 {
55 public:
56  using S = typename Shape1::S;
57 
59 
61  S BVTesting(int, int) const;
62 
64  void leafTesting(int, int) const;
65 
66  const Shape1* model1;
67  const Shape2* model2;
68 
69  const NarrowPhaseSolver* nsolver;
70 };
71 
73 template <typename Shape1, typename Shape2, typename NarrowPhaseSolver>
74 bool initialize(
76  const Shape1& shape1,
77  const Transform3<typename Shape1::S>& tf1,
78  const Shape2& shape2,
79  const Transform3<typename Shape1::S>& tf2,
80  const NarrowPhaseSolver* nsolver,
83 
84 } // namespace detail
85 } // namespace fcl
86 
87 #include "fcl/narrowphase/detail/traversal/distance/shape_distance_traversal_node-inl.h"
88 
89 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Traversal node for distance between two shapes.
Definition: shape_distance_traversal_node.h:52
void leafTesting(int, int) const
Distance testing between leaves (two shapes)
Definition: shape_distance_traversal_node-inl.h:70
distance result
Definition: distance_request.h:48
Transform3< Shape1::S > tf2
configuration of second object
Definition: traversal_node_base.h:88
S BVTesting(int, int) const
BV culling test in one BVTT node.
Definition: shape_distance_traversal_node-inl.h:63
Node structure encoding the information required for distance traversal.
Definition: distance_traversal_node_base.h:53
DistanceRequest< Shape1::S > request
request setting for distance
Definition: distance_traversal_node_base.h:73
DistanceResult< Shape1::S > * result
distance result kept during the traversal iteration
Definition: distance_traversal_node_base.h:76
Transform3< Shape1::S > tf1
configuation of first object
Definition: traversal_node_base.h:85
request to the distance computation
Definition: distance_request.h:52