FCL  0.6.0
Flexible Collision Library
collision_traversal_node_base.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_TRAVERSAL_COLLISIONTRAVERSALNODEBASE_H
39 #define FCL_TRAVERSAL_COLLISIONTRAVERSALNODEBASE_H
40 
41 #include "fcl/narrowphase/detail/traversal/traversal_node_base.h"
42 #include "fcl/narrowphase/collision_request.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template <typename S>
53 {
54 public:
56 
57  virtual ~CollisionTraversalNodeBase();
58 
60  virtual bool BVTesting(int b1, int b2) const;
61 
63  virtual void leafTesting(int b1, int b2) const;
64 
66  virtual bool canStop() const;
67 
69  void enableStatistics(bool enable);
70 
73 
76 
79 };
80 
83 
84 } // namespace detail
85 } // namespace fcl
86 
87 #include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base-inl.h"
88 
89 #endif
bool enable_statistics
Whether stores statistics.
Definition: collision_traversal_node_base.h:78
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Node structure encoding the information required for traversal.
Definition: traversal_node_base.h:51
collision result
Definition: collision_request.h:48
virtual bool BVTesting(int b1, int b2) const
BV test between b1 and b2.
Definition: collision_traversal_node_base-inl.h:70
virtual bool canStop() const
Check whether the traversal can stop.
Definition: collision_traversal_node_base-inl.h:84
CollisionRequest< 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
virtual void leafTesting(int b1, int b2) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: collision_traversal_node_base-inl.h:77
request to the collision algorithm
Definition: collision_request.h:52
CollisionResult< S > * result
collision result kept during the traversal iteration
Definition: collision_traversal_node_base.h:75
void enableStatistics(bool enable)
Whether store some statistics information during traversal.
Definition: collision_traversal_node_base-inl.h:91