Collision::ClosestPtCallback Class Reference

#include <collisionAlgorithms.h>

Inheritance diagram for Collision::ClosestPtCallback:

[legend]

List of all members.

Public Member Functions
	ClosestPtCallback (const CollisionModel *m1, const position &p)
virtual bool	distanceTest (double dSq)
position	getClosestPt ()
double	getMin ()
virtual void	leafTest (const Leaf *l1, const Leaf *l2)
void	printStatistics ()
virtual double	quickTest (const Node *n1, const Node *n2)
virtual void	reset ()
Private Attributes
position	mClosestPt
double	mMinDistSq
position	mRefPosition

---

Detailed Description

Recursion callback for the closest point test.

• leaf test - distance between point and triangles
• quick test - returns the distance between point and bounding box
• distance test - if distance between point and bounding box is more than smallest distance found so far, no need to recurse.

Definition at line 220 of file collisionAlgorithms.h.

---

Constructor & Destructor Documentation

Collision::ClosestPtCallback::ClosestPtCallback	(	const CollisionModel *	m1,
		const position &	p
	)			[inline]

Definition at line 226 of file collisionAlgorithms.h.

---

Member Function Documentation

virtual bool Collision::ClosestPtCallback::distanceTest

(

double

dSq

)

[inline, virtual]

Implements Collision::RecursionCallback.

Definition at line 234 of file collisionAlgorithms.h.

position Collision::ClosestPtCallback::getClosestPt

(

)

[inline]

Definition at line 240 of file collisionAlgorithms.h.

double Collision::ClosestPtCallback::getMin

(

)

[inline]

Definition at line 239 of file collisionAlgorithms.h.

void Collision::ClosestPtCallback::leafTest	(	const Leaf *	l1,
		const Leaf *	l2
	)			[virtual]

Implements Collision::RecursionCallback.

Definition at line 211 of file collisionAlgorithms_inl.h.

void Collision::ClosestPtCallback::printStatistics

(

)

[virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 222 of file collisionAlgorithms.cpp.

double Collision::ClosestPtCallback::quickTest	(	const Node *	n1,
		const Node *	n2
	)			[virtual]

Implements Collision::RecursionCallback.

Definition at line 232 of file collisionAlgorithms_inl.h.

virtual void Collision::ClosestPtCallback::reset

(

)

[inline, virtual]

Reimplemented from Collision::RecursionCallback.

Definition at line 228 of file collisionAlgorithms.h.

---

Member Data Documentation

position Collision::ClosestPtCallback::mClosestPt [private]

Definition at line 224 of file collisionAlgorithms.h.

double Collision::ClosestPtCallback::mMinDistSq [private]

Definition at line 223 of file collisionAlgorithms.h.

position Collision::ClosestPtCallback::mRefPosition [private]

Definition at line 224 of file collisionAlgorithms.h.

---

The documentation for this class was generated from the following files:

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms.h
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms.cpp
• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/Collision/Graspit/collisionAlgorithms_inl.h