fcl::details::EPA Struct Reference

class for EPA algorithm More...

#include <gjk.h>

List of all members.

Classes
struct	SimplexF
struct	SimplexHorizon
struct	SimplexList
Public Types
enum	Status {   Valid, Touching, Degenerated, NonConvex,   InvalidHull, OutOfFaces, OutOfVertices, AccuracyReached,   FallBack, Failed }
Public Member Functions
	EPA (unsigned int max_face_num_, unsigned int max_vertex_num_, unsigned int max_iterations_, FCL_REAL tolerance_)
Status	evaluate (GJK &gjk, const Vec3f &guess)
bool	expand (size_t pass, SimplexV *w, SimplexF *f, size_t e, SimplexHorizon &horizon)
	the goal is to add a face connecting vertex w and face edge f[e]
SimplexF *	findBest ()
	Find the best polytope face to split.
bool	getEdgeDist (SimplexF *face, SimplexV *a, SimplexV *b, FCL_REAL &dist)
void	initialize ()
SimplexF *	newFace (SimplexV *a, SimplexV *b, SimplexV *c, bool forced)
	~EPA ()
Public Attributes
FCL_REAL	depth
SimplexF *	fc_store
SimplexList	hull
size_t	nextsv
Vec3f	normal
GJK::Simplex	result
Status	status
SimplexList	stock
SimplexV *	sv_store
Private Types
typedef GJK::SimplexV	SimplexV
Static Private Member Functions
static void	bind (SimplexF *fa, size_t ea, SimplexF *fb, size_t eb)
Private Attributes
unsigned int	max_face_num
unsigned int	max_iterations
unsigned int	max_vertex_num
FCL_REAL	tolerance

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Detailed Description

class for EPA algorithm

Definition at line 187 of file gjk.h.

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Member Typedef Documentation

typedef GJK::SimplexV fcl::details::EPA::SimplexV [private]

Definition at line 190 of file gjk.h.

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Member Enumeration Documentation

enum fcl::details::EPA::Status

Enumerator:

Valid
Touching
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
AccuracyReached
FallBack
Failed

Definition at line 247 of file gjk.h.

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Constructor & Destructor Documentation

fcl::details::EPA::EPA	(	unsigned int	max_face_num_,
		unsigned int	max_vertex_num_,
		unsigned int	max_iterations_,
		FCL_REAL	tolerance_
	)		[inline]

Definition at line 258 of file gjk.h.

fcl::details::EPA::~EPA

(

)

[inline]

Definition at line 266 of file gjk.h.

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Member Function Documentation

static void fcl::details::EPA::bind	(	SimplexF *	fa,
		size_t	ea,
		SimplexF *	fb,
		size_t	eb
	)		[inline, static, private]

Definition at line 225 of file gjk.h.

EPA::Status fcl::details::EPA::evaluate	(	GJK &	gjk,
		const Vec3f &	guess
	)

Definition at line 593 of file gjk.cpp.

bool fcl::details::EPA::expand	(	size_t	pass,
		SimplexV *	w,
		SimplexF *	f,
		size_t	e,
		SimplexHorizon &	horizon
	)

the goal is to add a face connecting vertex w and face edge f[e]

Definition at line 716 of file gjk.cpp.

EPA::SimplexF * fcl::details::EPA::findBest

(

)

Find the best polytope face to split.

Definition at line 577 of file gjk.cpp.

bool fcl::details::EPA::getEdgeDist	(	SimplexF *	face,
		SimplexV *	a,
		SimplexV *	b,
		FCL_REAL &	dist
	)

Definition at line 504 of file gjk.cpp.

void fcl::details::EPA::initialize

(

)

Definition at line 492 of file gjk.cpp.

EPA::SimplexF * fcl::details::EPA::newFace	(	SimplexV *	a,
		SimplexV *	b,
		SimplexV *	c,
		bool	forced
	)

Definition at line 535 of file gjk.cpp.

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Member Data Documentation

FCL_REAL fcl::details::EPA::depth

Definition at line 252 of file gjk.h.

SimplexF* fcl::details::EPA::fc_store

Definition at line 254 of file gjk.h.

SimplexList fcl::details::EPA::hull

Definition at line 256 of file gjk.h.

unsigned int fcl::details::EPA::max_face_num [private]

Definition at line 240 of file gjk.h.

unsigned int fcl::details::EPA::max_iterations [private]

Definition at line 242 of file gjk.h.

unsigned int fcl::details::EPA::max_vertex_num [private]

Definition at line 241 of file gjk.h.

size_t fcl::details::EPA::nextsv

Definition at line 255 of file gjk.h.

Vec3f fcl::details::EPA::normal

Definition at line 251 of file gjk.h.

GJK::Simplex fcl::details::EPA::result

Definition at line 250 of file gjk.h.

Status fcl::details::EPA::status

Definition at line 249 of file gjk.h.

SimplexList fcl::details::EPA::stock

Definition at line 256 of file gjk.h.

SimplexV* fcl::details::EPA::sv_store

Definition at line 253 of file gjk.h.

FCL_REAL fcl::details::EPA::tolerance [private]

Definition at line 243 of file gjk.h.

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

• gjk.h
• gjk.cpp