class for EPA algorithm More...

#include <epa.h>

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_, S tolerance_)

Status	evaluate (GJK< S > &gjk, const Vector3< S > &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] More...

SimplexF *	findBest ()
	Find the best polytope face to split. More...

bool	getEdgeDist (SimplexF face, SimplexV a, SimplexV *b, S &dist)

void	initialize ()

SimplexF *	newFace (SimplexV a, SimplexV b, SimplexV *c, bool forced)

	~EPA ()

Public Attributes
S	depth

SimplexF *	fc_store

SimplexList	hull

size_t	nextsv

Vector3< S >	normal

GJK< S >::Simplex	result

Status	status

SimplexList	stock

SimplexV *	sv_store

Private Types
using	SimplexV = typename GJK< S >::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

S	tolerance

Detailed Description

template<typename S>
struct fcl::detail::EPA< S >

class for EPA algorithm

Definition at line 57 of file epa.h.

Member Typedef Documentation

◆ SimplexV

template<typename S >

using fcl::detail::EPA< S >::SimplexV = typename GJK<S>::SimplexV

private

Definition at line 60 of file epa.h.

Member Enumeration Documentation

◆ Status

template<typename S >

enum fcl::detail::EPA::Status

Enumerator
Valid
Touching
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
AccuracyReached
FallBack
Failed

Definition at line 103 of file epa.h.

Constructor & Destructor Documentation

◆ EPA()

template<typename S >

fcl::detail::EPA< S >::EPA	(	unsigned int	max_face_num_,
		unsigned int	max_vertex_num_,
		unsigned int	max_iterations_,
		S	tolerance_
	)

Definition at line 92 of file epa-inl.h.

◆ ~EPA()

template<typename S >

fcl::detail::EPA< S >::~EPA

Definition at line 106 of file epa-inl.h.

Member Function Documentation

◆ bind()

template<typename S >

void fcl::detail::EPA< S >::bind	(	SimplexF *	fa,
		size_t	ea,
		SimplexF *	fb,
		size_t	eb
	)

staticprivate

Definition at line 84 of file epa-inl.h.

◆ evaluate()

template<typename S >

EPA< S >::Status fcl::detail::EPA< S >::evaluate	(	GJK< S > &	gjk,
		const Vector3< S > &	guess
	)

Definition at line 225 of file epa-inl.h.

◆ expand()

template<typename S >

bool fcl::detail::EPA< S >::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 349 of file epa-inl.h.

◆ findBest()

template<typename S >

EPA< S >::SimplexF * fcl::detail::EPA< S >::findBest

Find the best polytope face to split.

Definition at line 207 of file epa-inl.h.

◆ getEdgeDist()

template<typename S >

bool fcl::detail::EPA< S >::getEdgeDist	(	SimplexF *	face,
		SimplexV *	a,
		SimplexV *	b,
		S &	dist
	)

Definition at line 128 of file epa-inl.h.

◆ initialize()

template<typename S >

void fcl::detail::EPA< S >::initialize

Definition at line 114 of file epa-inl.h.

◆ newFace()

template<typename S >

EPA< S >::SimplexF * fcl::detail::EPA< S >::newFace	(	SimplexV *	a,
		SimplexV *	b,
		SimplexV *	c,
		bool	forced
	)

Definition at line 159 of file epa-inl.h.

Member Data Documentation

◆ depth

template<typename S >

S fcl::detail::EPA< S >::depth

Definition at line 108 of file epa.h.

◆ fc_store

template<typename S >

SimplexF* fcl::detail::EPA< S >::fc_store

Definition at line 110 of file epa.h.

◆ hull

template<typename S >

SimplexList fcl::detail::EPA< S >::hull

Definition at line 112 of file epa.h.

◆ max_face_num

template<typename S >

unsigned int fcl::detail::EPA< S >::max_face_num

private

Definition at line 96 of file epa.h.

◆ max_iterations

template<typename S >

unsigned int fcl::detail::EPA< S >::max_iterations

private

Definition at line 98 of file epa.h.

◆ max_vertex_num

template<typename S >

unsigned int fcl::detail::EPA< S >::max_vertex_num

private

Definition at line 97 of file epa.h.

◆ nextsv

template<typename S >

size_t fcl::detail::EPA< S >::nextsv

Definition at line 111 of file epa.h.

◆ normal

template<typename S >

Vector3<S> fcl::detail::EPA< S >::normal

Definition at line 107 of file epa.h.

◆ result

template<typename S >

GJK<S>::Simplex fcl::detail::EPA< S >::result

Definition at line 106 of file epa.h.

◆ status

template<typename S >

Status fcl::detail::EPA< S >::status

Definition at line 105 of file epa.h.

◆ stock

template<typename S >

SimplexList fcl::detail::EPA< S >::stock

Definition at line 112 of file epa.h.

◆ sv_store

template<typename S >

SimplexV* fcl::detail::EPA< S >::sv_store

Definition at line 109 of file epa.h.

◆ tolerance

template<typename S >

S fcl::detail::EPA< S >::tolerance

private

Definition at line 99 of file epa.h.

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

Classes

Public Types

Public Member Functions

Public Attributes

Private Types

Static Private Member Functions

Private Attributes

Detailed Description

template<typename S> struct fcl::detail::EPA< S >

Member Typedef Documentation

◆ SimplexV

Member Enumeration Documentation

◆ Status

Constructor & Destructor Documentation

◆ EPA()

◆ ~EPA()

Member Function Documentation

◆ bind()

◆ evaluate()

◆ expand()

◆ findBest()

◆ getEdgeDist()

◆ initialize()

◆ newFace()

Member Data Documentation

◆ depth

◆ fc_store

◆ hull

◆ max_face_num

◆ max_iterations

◆ max_vertex_num

◆ nextsv

◆ normal

◆ result

◆ status

◆ stock

◆ sv_store

◆ tolerance

template<typename S>
struct fcl::detail::EPA< S >