collision_utility.h
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1 // Copyright (c) 2017 CNRS
2 // Copyright (c) 2022 INRIA
3 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
4 //
5 // This file is part of hpp-fcl.
6 // hpp-fcl is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-fcl is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-fcl. If not, see <http://www.gnu.org/licenses/>.
17 
18 #ifndef HPP_FCL_COLLISION_UTILITY_H
19 #define HPP_FCL_COLLISION_UTILITY_H
20 
22 
23 namespace hpp {
24 namespace fcl {
25 
26 HPP_FCL_DLLAPI CollisionGeometry* extract(const CollisionGeometry* model,
27  const Transform3f& pose,
28  const AABB& aabb);
29 
33 inline const char* get_node_type_name(NODE_TYPE node_type) {
34  static const char* node_type_name_all[] = {
35  "BV_UNKNOWN", "BV_AABB", "BV_OBB", "BV_RSS",
36  "BV_kIOS", "BV_OBBRSS", "BV_KDOP16", "BV_KDOP18",
37  "BV_KDOP24", "GEOM_BOX", "GEOM_SPHERE", "GEOM_CAPSULE",
38  "GEOM_CONE", "GEOM_CYLINDER", "GEOM_CONVEX", "GEOM_PLANE",
39  "GEOM_HALFSPACE", "GEOM_TRIANGLE", "GEOM_OCTREE", "GEOM_ELLIPSOID",
40  "HF_AABB", "HF_OBBRSS", "NODE_COUNT"};
41 
42  return node_type_name_all[node_type];
43 }
44 
48 inline const char* get_object_type_name(OBJECT_TYPE object_type) {
49  static const char* object_type_name_all[] = {
50  "OT_UNKNOWN", "OT_BVH", "OT_GEOM", "OT_OCTREE", "OT_HFIELD", "OT_COUNT"};
51 
52  return object_type_name_all[object_type];
53 }
54 
55 } // namespace fcl
56 
57 } // namespace hpp
58 
59 #endif // FCL_COLLISION_UTILITY_H
collision_object.h
hpp::fcl::extract
HPP_FCL_DLLAPI CollisionGeometry * extract(const CollisionGeometry *model, const Transform3f &pose, const AABB &aabb)
Definition: collision_utility.cpp:68
hpp::fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_object.h:65
hpp::fcl::get_object_type_name
const char * get_object_type_name(OBJECT_TYPE object_type)
Returns the name associated to a OBJECT_TYPE.
Definition: collision_utility.h:48
hpp::fcl::OBJECT_TYPE
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_object.h:53
hpp::fcl::get_node_type_name
const char * get_node_type_name(NODE_TYPE node_type)
Returns the name associated to a NODE_TYPE.
Definition: collision_utility.h:33
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44


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autogenerated on Fri Aug 2 2024 02:45:13