collision_checking::BVH_DistanceResult Struct Reference

#include <distance_primitive.h>

List of all members.

Public Member Functions
	BVH_DistanceResult ()
void	resetRecord ()
	Reset the distance query statistics.
	~BVH_DistanceResult ()
Public Attributes
BVH_REAL	abs_err
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
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

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Detailed Description

Definition at line 48 of file distance_primitive.h.

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Constructor & Destructor Documentation

collision_checking::BVH_DistanceResult::BVH_DistanceResult

(

)

default relative and absolute error

Definition at line 68 of file distance_primitive.cpp.

collision_checking::BVH_DistanceResult::~BVH_DistanceResult

(

)

Definition at line 90 of file distance_primitive.cpp.

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Member Function Documentation

void collision_checking::BVH_DistanceResult::resetRecord

(

)

[inline]

Reset the distance query statistics.

Definition at line 86 of file distance_primitive.h.

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Member Data Documentation

BVH_REAL collision_checking::BVH_DistanceResult::abs_err

Definition at line 61 of file distance_primitive.h.

BVH_REAL collision_checking::BVH_DistanceResult::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 66 of file distance_primitive.h.

int collision_checking::BVH_DistanceResult::last_tri_id1

Remember the nearest neighbor points.

Definition at line 78 of file distance_primitive.h.

int collision_checking::BVH_DistanceResult::last_tri_id2

Definition at line 79 of file distance_primitive.h.

int collision_checking::BVH_DistanceResult::num_bv_tests

Number of BV collision test performed.

Definition at line 51 of file distance_primitive.h.

int collision_checking::BVH_DistanceResult::num_tri_tests

Number of triangle collision test performed.

Definition at line 54 of file distance_primitive.h.

Vec3f collision_checking::BVH_DistanceResult::p1

Definition at line 67 of file distance_primitive.h.

Vec3f collision_checking::BVH_DistanceResult::p2

Definition at line 67 of file distance_primitive.h.

int collision_checking::BVH_DistanceResult::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 75 of file distance_primitive.h.

BVH_REAL collision_checking::BVH_DistanceResult::query_time_seconds

Query time used.

Definition at line 57 of file distance_primitive.h.

BVH_REAL collision_checking::BVH_DistanceResult::rel_err

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

Definition at line 60 of file distance_primitive.h.

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

• distance_primitive.h
• distance_primitive.cpp