collision_checking::BVH_CAResult Struct Reference

#include <conservative_advancement.h>

Public Member Functions
	BVH_CAResult (BVH_REAL w_=1)
void	resetRecord ()
	Reset the distance query statistics.
	~BVH_CAResult ()
Public Attributes
BVH_REAL	abs_err
BVH_REAL	delta_t
	The delta_t each step.
BVH_REAL	distance
	distance and points establishing the minimum distance for the models, within the relative and absolute error bounds specified. p1 is in model1's local coordinate system while p2 is in model2's local coordinate system
int	last_tri_id1
	Remember the nearest neighbor points.
int	last_tri_id2
InterpMotion	motion1
	Motions for the two objects in query.
InterpMotion	motion2
int	num_bv_tests
	Number of BV collision test performed.
int	num_tri_tests
	Number of triangle collision test performed.
Vec3f	p1
Vec3f	p2
int	qsize
	Optional parameter controlling the size of a priority queue used to direct the search for closest points. A larger queue can help the algorithm discover the minimum with fewer steps, but will increase the cost of each step. It is not beneficial to increase qsize if the application has frame-to-frame coherence, i.e., the pairs of models taks small steps between each call,since the 'last tri_id' trick already accelerates this situtation with no overhead. However, a queue size of 100 to 200 has been seen to save time in a motion planning application with "non-coherent" placements of models.
BVH_REAL	query_time_seconds
	Query time used.
BVH_REAL	rel_err
	relative and absolute error, default value is 0.01 for both terms
BVH_REAL	t_err
BVH_REAL	toc
	The time from beginning point.
BVH_REAL	w
	CA controlling variable: early stop for the early iterations of CA.

Detailed Description

Definition at line 262 of file conservative_advancement.h.

Constructor & Destructor Documentation

collision_checking::BVH_CAResult::BVH_CAResult ( BVH_REAL w_ = 1 ) [inline]

default relative and absolute error

Definition at line 309 of file conservative_advancement.h.

collision_checking::BVH_CAResult::~BVH_CAResult ( ) [inline]

Definition at line 336 of file conservative_advancement.h.

Member Function Documentation

void collision_checking::BVH_CAResult::resetRecord ( ) [inline]

Reset the distance query statistics.

Definition at line 339 of file conservative_advancement.h.

Member Data Documentation

BVH_REAL collision_checking::BVH_CAResult::abs_err

Definition at line 275 of file conservative_advancement.h.

BVH_REAL collision_checking::BVH_CAResult::delta_t

The delta_t each step.

Definition at line 303 of file conservative_advancement.h.

BVH_REAL collision_checking::BVH_CAResult::distance

distance and points establishing the minimum distance for the models, within the relative and absolute error bounds specified. p1 is in model1's local coordinate system while p2 is in model2's local coordinate system

Definition at line 280 of file conservative_advancement.h.

int collision_checking::BVH_CAResult::last_tri_id1

Remember the nearest neighbor points.

Definition at line 292 of file conservative_advancement.h.

int collision_checking::BVH_CAResult::last_tri_id2

Definition at line 293 of file conservative_advancement.h.

InterpMotion collision_checking::BVH_CAResult::motion1

Motions for the two objects in query.

Definition at line 306 of file conservative_advancement.h.

InterpMotion collision_checking::BVH_CAResult::motion2

Definition at line 307 of file conservative_advancement.h.

int collision_checking::BVH_CAResult::num_bv_tests

Number of BV collision test performed.

Definition at line 265 of file conservative_advancement.h.

int collision_checking::BVH_CAResult::num_tri_tests

Number of triangle collision test performed.

Definition at line 268 of file conservative_advancement.h.

Vec3f collision_checking::BVH_CAResult::p1

Definition at line 281 of file conservative_advancement.h.

Vec3f collision_checking::BVH_CAResult::p2

Definition at line 281 of file conservative_advancement.h.

int collision_checking::BVH_CAResult::qsize

Optional parameter controlling the size of a priority queue used to direct the search for closest points. A larger queue can help the algorithm discover the minimum with fewer steps, but will increase the cost of each step. It is not beneficial to increase qsize if the application has frame-to-frame coherence, i.e., the pairs of models taks small steps between each call,since the 'last tri_id' trick already accelerates this situtation with no overhead. However, a queue size of 100 to 200 has been seen to save time in a motion planning application with "non-coherent" placements of models.

Definition at line 289 of file conservative_advancement.h.

BVH_REAL collision_checking::BVH_CAResult::query_time_seconds

Query time used.

Definition at line 271 of file conservative_advancement.h.

BVH_REAL collision_checking::BVH_CAResult::rel_err

relative and absolute error, default value is 0.01 for both terms

Definition at line 274 of file conservative_advancement.h.

BVH_REAL collision_checking::BVH_CAResult::t_err

Definition at line 300 of file conservative_advancement.h.

BVH_REAL collision_checking::BVH_CAResult::toc

The time from beginning point.

Definition at line 299 of file conservative_advancement.h.