FCL  0.6.0
Flexible Collision Library
shape_octree_distance_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_SHAPEOCTREEDISTANCETRAVERSALNODE_H
39 #define FCL_TRAVERSAL_OCTREE_SHAPEOCTREEDISTANCETRAVERSALNODE_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/distance/distance_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 Shape, typename NarrowPhaseSolver>
60  : public DistanceTraversalNodeBase<typename Shape::S>
61 {
62 public:
63 
64  using S = typename Shape::S;
65 
67 
68  S BVTesting(int, int) const;
69 
70  void leafTesting(int, int) const;
71 
72  const Shape* model1;
73  const OcTree<S>* model2;
74 
75  const OcTreeSolver<NarrowPhaseSolver>* otsolver;
76 };
77 
80 template <typename Shape, typename NarrowPhaseSolver>
81 bool initialize(
83  const Shape& model1,
84  const Transform3<typename Shape::S>& tf1,
85  const OcTree<typename Shape::S>& model2,
86  const Transform3<typename Shape::S>& tf2,
87  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
90 
91 } // namespace detail
92 } // namespace fcl
93 
94 #include "fcl/narrowphase/detail/traversal/octree/distance/shape_octree_distance_traversal_node-inl.h"
95 
96 #endif
Traversal node for shape-octree distance.
Definition: shape_octree_distance_traversal_node.h:59
S BVTesting(int, int) const
BV test between b1 and b2.
Definition: shape_octree_distance_traversal_node-inl.h:64
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
distance result
Definition: distance_request.h:48
Transform3< Shape::S > tf2
configuration of second object
Definition: traversal_node_base.h:88
void leafTesting(int, int) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: shape_octree_distance_traversal_node-inl.h:72
Node structure encoding the information required for distance traversal.
Definition: distance_traversal_node_base.h:53
Algorithms for collision related with octree.
Definition: octree_solver.h:59
DistanceRequest< Shape::S > request
request setting for distance
Definition: distance_traversal_node_base.h:73
DistanceResult< Shape::S > * result
distance result kept during the traversal iteration
Definition: distance_traversal_node_base.h:76
Transform3< Shape::S > tf1
configuation of first object
Definition: traversal_node_base.h:85
request to the distance computation
Definition: distance_request.h:52