Class for hierarchy tree structure. More...

#include <hierarchy_tree.h>

Classes
struct	SortByMorton

Public Types
typedef NodeBase< BV >	Node

Public Member Functions
void	balanceBottomup ()
	balance the tree from bottom More...

void	balanceIncremental (int iterations)
	balance the tree in an incremental way More...

void	balanceTopdown ()
	balance the tree from top More...

void	clear ()
	Clear the tree. More...

bool	empty () const
	Whether the tree is empty. More...

void	extractLeaves (const Node root, std::vector< Node > &leaves) const
	extract all the leaves of the tree More...

size_t	getMaxDepth () const
	get the max depth of the tree More...

size_t	getMaxHeight () const
	get the max height of the tree More...

Node *&	getRoot ()

Node *	getRoot () const
	get the root of the tree More...

	HierarchyTree (int bu_threshold_=16, int topdown_level_=0)
	Create hierarchy tree with suitable setting. bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower. More...

void	init (std::vector< Node * > &leaves, int level=0)
	Initialize the tree by a set of leaves using algorithm with a given level. More...

Node *	insert (const BV &bv, void *data)
	Insest a node. More...

void	print (Node *root, int depth)
	print the tree in a recursive way More...

void	refit ()
	refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner More...

void	remove (Node *leaf)
	Remove a leaf node. More...

size_t	size () const
	number of leaves in the tree More...

bool	update (Node *leaf, const BV &bv)
	update the tree when the bounding volume of a given leaf has changed More...

bool	update (Node *leaf, const BV &bv, const Vec3f &vel)
	update one leaf's bounding volume, with prediction More...

bool	update (Node *leaf, const BV &bv, const Vec3f &vel, FCL_REAL margin)
	update one leaf's bounding volume, with prediction More...

void	update (Node *leaf, int lookahead_level=-1)
	Updates a `leaf` node. A use case is when the bounding volume of an object changes. Ensure every parent node has its bounding volume expand or shrink to fit the bounding volumes of its children. More...

	~HierarchyTree ()

Public Attributes
int	bu_threshold
	decide the depth to use expensive bottom-up algorithm More...

int	topdown_level
	decide which topdown algorithm to use More...

Protected Attributes
Node *	free_node

int	max_lookahead_level

size_t	n_leaves

unsigned int	opath

Node *	root_node

Private Types
typedef std::vector< NodeBase< BV > * >::const_iterator	NodeVecConstIterator

typedef std::vector< NodeBase< BV > * >::iterator	NodeVecIterator

Private Member Functions
void	bottomup (const NodeVecIterator lbeg, const NodeVecIterator lend)
	construct a tree for a set of leaves from bottom – very heavy way More...

Node *	createNode (Node parent, const BV &bv, void data)
	create one node (leaf or internal) More...

Node *	createNode (Node parent, const BV &bv1, const BV &bv2, void data)

Node *	createNode (Node parent, void data)

void	deleteNode (Node *node)

void	fetchLeaves (Node root, std::vector< Node > &leaves, int depth=-1)
	Delete all internal nodes and return all leaves nodes with given depth from root. More...

void	getMaxDepth (Node *node, size_t depth, size_t &max_depth) const
	compute the maximum depth of a subtree rooted from a given node More...

size_t	getMaxHeight (Node *node) const
	compute the maximum height of a subtree rooted from a given node More...

void	init_0 (std::vector< Node * > &leaves)
	init tree from leaves in the topdown manner (topdown_0 or topdown_1) More...

void	init_1 (std::vector< Node * > &leaves)
	init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we use bottomup method to construct the subtree, which is slow but can construct tree with high quality. More...

void	init_2 (std::vector< Node * > &leaves)
	init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we split the leaves into two parts with the same size simply using the node index. More...

void	init_3 (std::vector< Node * > &leaves)
	init tree from leaves using morton code. It uses morton_2, i.e., for all nodes, we simply divide the leaves into parts with the same size simply using the node index. More...

void	insertLeaf (Node const sub_root, Node const leaf)
	Insert a leaf node and also update its ancestors. Maintain the tree as a full binary tree (every interior node has exactly two children). Furthermore, adjust the BV of interior nodes so that each parent's BV tightly fits its children's BVs. More...

Node *	mortonRecurse_0 (const NodeVecIterator lbeg, const NodeVecIterator lend, const uint32_t &split, int bits)

Node *	mortonRecurse_1 (const NodeVecIterator lbeg, const NodeVecIterator lend, const uint32_t &split, int bits)

Node *	mortonRecurse_2 (const NodeVecIterator lbeg, const NodeVecIterator lend)

void	recurseDeleteNode (Node *node)

void	recurseRefit (Node *node)

Node *	removeLeaf (Node *const leaf)
	Remove a leaf. Maintain the tree as a full binary tree (every interior node has exactly two children). Furthermore, adjust the BV of interior nodes so that each parent's BV tightly fits its children's BVs. More...

Node *	sort (Node n, Node &r)
	sort node n and its parent according to their memory position More...

Node *	topdown (const NodeVecIterator lbeg, const NodeVecIterator lend)
	construct a tree for a set of leaves from top More...

Node *	topdown_0 (const NodeVecIterator lbeg, const NodeVecIterator lend)
	construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split axis as the axis along with the longest AABB edge. Then compute the median of all nodes' center projection onto the axis and using it as the split threshold. More...

Node *	topdown_1 (const NodeVecIterator lbeg, const NodeVecIterator lend)
	construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split thresholds for different axes as the average of all nodes' center. Then choose the split axis as the axis whose threshold can divide the nodes into two parts with almost similar size. This construction is more expensive then topdown_0, but also can provide tree with better quality. More...

void	update_ (Node *leaf, const BV &bv)
	update one leaf node's bounding volume More...

Static Private Member Functions
static size_t	indexOf (Node *node)

Detailed Description

template<typename BV>
class hpp::fcl::detail::HierarchyTree< BV >

Class for hierarchy tree structure.

Definition at line 57 of file hierarchy_tree.h.

Member Typedef Documentation

◆ Node

template<typename BV >

typedef NodeBase<BV> hpp::fcl::detail::HierarchyTree< BV >::Node

Definition at line 59 of file hierarchy_tree.h.

◆ NodeVecConstIterator

template<typename BV >

typedef std::vector<NodeBase<BV>*>::const_iterator hpp::fcl::detail::HierarchyTree< BV >::NodeVecConstIterator

private

Definition at line 145 of file hierarchy_tree.h.

◆ NodeVecIterator

template<typename BV >

typedef std::vector<NodeBase<BV>*>::iterator hpp::fcl::detail::HierarchyTree< BV >::NodeVecIterator

private

Definition at line 143 of file hierarchy_tree.h.

Constructor & Destructor Documentation

◆ HierarchyTree()

template<typename BV >

hpp::fcl::detail::HierarchyTree< BV >::HierarchyTree	(	int	bu_threshold_ = `16`,
		int	topdown_level_ = `0`
	)

Create hierarchy tree with suitable setting. bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower.

Definition at line 50 of file hierarchy_tree-inl.h.

◆ ~HierarchyTree()

template<typename BV >

hpp::fcl::detail::HierarchyTree< BV >::~HierarchyTree

Definition at line 62 of file hierarchy_tree-inl.h.

Member Function Documentation

◆ balanceBottomup()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::balanceBottomup

balance the tree from bottom

Definition at line 210 of file hierarchy_tree-inl.h.

◆ balanceIncremental()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::balanceIncremental ( int iterations )

balance the tree in an incremental way

Definition at line 233 of file hierarchy_tree-inl.h.

◆ balanceTopdown()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::balanceTopdown

balance the tree from top

Definition at line 222 of file hierarchy_tree-inl.h.

◆ bottomup()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::bottomup	(	const NodeVecIterator	lbeg,
		const NodeVecIterator	lend
	)

private

construct a tree for a set of leaves from bottom – very heavy way

Definition at line 300 of file hierarchy_tree-inl.h.

◆ clear()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::clear

Clear the tree.

Definition at line 107 of file hierarchy_tree-inl.h.

◆ createNode() [1/3]

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::createNode	(	Node *	parent,
		const BV &	bv,
		void *	data
	)

private

create one node (leaf or internal)

Definition at line 862 of file hierarchy_tree-inl.h.

◆ createNode() [2/3]

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::createNode	(	Node *	parent,
		const BV &	bv1,
		const BV &	bv2,
		void *	data
	)

private

Definition at line 872 of file hierarchy_tree-inl.h.

◆ createNode() [3/3]

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::createNode	(	Node *	parent,
		void *	data
	)

private

Definition at line 883 of file hierarchy_tree-inl.h.

◆ deleteNode()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::deleteNode ( Node * node )

private

Definition at line 899 of file hierarchy_tree-inl.h.

◆ empty()

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::empty

Whether the tree is empty.

Definition at line 118 of file hierarchy_tree-inl.h.

◆ extractLeaves()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::extractLeaves	(	const Node *	root,
		std::vector< Node * > &	leaves
	)		const

extract all the leaves of the tree

Definition at line 257 of file hierarchy_tree-inl.h.

◆ fetchLeaves()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::fetchLeaves	(	Node *	root,
		std::vector< Node * > &	leaves,
		int	depth = `-1`
	)

private

Delete all internal nodes and return all leaves nodes with given depth from root.

Definition at line 842 of file hierarchy_tree-inl.h.

◆ getMaxDepth() [1/2]

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::getMaxDepth

get the max depth of the tree

Definition at line 200 of file hierarchy_tree-inl.h.

◆ getMaxDepth() [2/2]

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::getMaxDepth	(	Node *	node,
		size_t	depth,
		size_t &	max_depth
	)		const

private

compute the maximum depth of a subtree rooted from a given node

Definition at line 361 of file hierarchy_tree-inl.h.

◆ getMaxHeight() [1/2]

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::getMaxHeight

get the max height of the tree

Definition at line 193 of file hierarchy_tree-inl.h.

◆ getMaxHeight() [2/2]

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::getMaxHeight ( Node * node ) const

private

compute the maximum height of a subtree rooted from a given node

Definition at line 350 of file hierarchy_tree-inl.h.

◆ getRoot() [1/2]

template<typename BV >

Node*& hpp::fcl::detail::HierarchyTree< BV >::getRoot ( )

◆ getRoot() [2/2]

template<typename BV >

HierarchyTree< BV >::Node *& hpp::fcl::detail::HierarchyTree< BV >::getRoot

get the root of the tree

Definition at line 274 of file hierarchy_tree-inl.h.

◆ indexOf()

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::indexOf ( Node * node )

staticprivate

Definition at line 855 of file hierarchy_tree-inl.h.

◆ init()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::init	(	std::vector< Node * > &	leaves,
		int	level = `0`
	)

Initialize the tree by a set of leaves using algorithm with a given level.

Definition at line 68 of file hierarchy_tree-inl.h.

◆ init_0()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::init_0 ( std::vector< Node * > & leaves )

private

init tree from leaves in the topdown manner (topdown_0 or topdown_1)

Definition at line 467 of file hierarchy_tree-inl.h.

◆ init_1()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::init_1 ( std::vector< Node * > & leaves )

private

init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we use bottomup method to construct the subtree, which is slow but can construct tree with high quality.

Definition at line 477 of file hierarchy_tree-inl.h.

◆ init_2()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::init_2 ( std::vector< Node * > & leaves )

private

init tree from leaves using morton code. It uses morton_0, i.e., for nodes which is of depth more than the maximum bits of the morton code, we split the leaves into two parts with the same size simply using the node index.

Definition at line 501 of file hierarchy_tree-inl.h.

◆ init_3()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::init_3 ( std::vector< Node * > & leaves )

private

init tree from leaves using morton code. It uses morton_2, i.e., for all nodes, we simply divide the leaves into parts with the same size simply using the node index.

Definition at line 525 of file hierarchy_tree-inl.h.

◆ insert()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::insert	(	const BV &	bv,
		void *	data
	)

Insest a node.

Definition at line 89 of file hierarchy_tree-inl.h.

◆ insertLeaf()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::insertLeaf	(	Node *const	sub_root,
		Node *const	leaf
	)

private

Insert a leaf node and also update its ancestors. Maintain the tree as a full binary tree (every interior node has exactly two children). Furthermore, adjust the BV of interior nodes so that each parent's BV tightly fits its children's BVs.

Parameters

sub_root The root of the subtree into which we will insert the

Definition at line 696 of file hierarchy_tree-inl.h.

◆ mortonRecurse_0()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::mortonRecurse_0	(	const NodeVecIterator	lbeg,
		const NodeVecIterator	lend,
		const uint32_t &	split,
		int	bits
	)

private

Definition at line 548 of file hierarchy_tree-inl.h.

◆ mortonRecurse_1()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::mortonRecurse_1	(	const NodeVecIterator	lbeg,
		const NodeVecIterator	lend,
		const uint32_t &	split,
		int	bits
	)

private

Definition at line 588 of file hierarchy_tree-inl.h.

◆ mortonRecurse_2()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::mortonRecurse_2	(	const NodeVecIterator	lbeg,
		const NodeVecIterator	lend
	)

private

Definition at line 634 of file hierarchy_tree-inl.h.

◆ print()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::print	(	Node *	root,
		int	depth
	)

print the tree in a recursive way

Definition at line 286 of file hierarchy_tree-inl.h.

◆ recurseDeleteNode()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::recurseDeleteNode ( Node * node )

private

Definition at line 908 of file hierarchy_tree-inl.h.

◆ recurseRefit()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::recurseRefit ( Node * node )

private

Definition at line 920 of file hierarchy_tree-inl.h.

◆ refit()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::refit

refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner

Definition at line 251 of file hierarchy_tree-inl.h.

◆ remove()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::remove ( Node * leaf )

Remove a leaf node.

Definition at line 99 of file hierarchy_tree-inl.h.

◆ removeLeaf()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::removeLeaf ( Node *const leaf )

private

Remove a leaf. Maintain the tree as a full binary tree (every interior node has exactly two children). Furthermore, adjust the BV of interior nodes so that each parent's BV tightly fits its children's BVs.

Note: The leaf node itself is not deleted yet, but all the unnecessary internal nodes are deleted.

Returns: the root of the subtree containing the nodes whose BVs were

Definition at line 777 of file hierarchy_tree-inl.h.

◆ size()

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::size

number of leaves in the tree

Definition at line 268 of file hierarchy_tree-inl.h.

◆ sort()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::sort	(	Node *	n,
		Node *&	r
	)

private

sort node n and its parent according to their memory position

Definition at line 668 of file hierarchy_tree-inl.h.

◆ topdown()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::topdown	(	const NodeVecIterator	lbeg,
		const NodeVecIterator	lend
	)

private

construct a tree for a set of leaves from top

Definition at line 334 of file hierarchy_tree-inl.h.

◆ topdown_0()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::topdown_0	(	const NodeVecIterator	lbeg,
		const NodeVecIterator	lend
	)

private

construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split axis as the axis along with the longest AABB edge. Then compute the median of all nodes' center projection onto the axis and using it as the split threshold.

Definition at line 372 of file hierarchy_tree-inl.h.

◆ topdown_1()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::topdown_1	(	const NodeVecIterator	lbeg,
		const NodeVecIterator	lend
	)

private

construct a tree from a list of nodes stored in [lbeg, lend) in a topdown manner. During construction, first compute the best split thresholds for different axes as the average of all nodes' center. Then choose the split axis as the axis whose threshold can divide the nodes into two parts with almost similar size. This construction is more expensive then topdown_0, but also can provide tree with better quality.

Definition at line 407 of file hierarchy_tree-inl.h.

◆ update() [1/4]

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		const BV &	bv
	)

update the tree when the bounding volume of a given leaf has changed

Definition at line 152 of file hierarchy_tree-inl.h.

◆ update() [2/4]

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		const BV &	bv,
		const Vec3f &	vel
	)

update one leaf's bounding volume, with prediction

Definition at line 187 of file hierarchy_tree-inl.h.

◆ update() [3/4]

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		const BV &	bv,
		const Vec3f &	vel,
		FCL_REAL	margin
	)

update one leaf's bounding volume, with prediction

Definition at line 180 of file hierarchy_tree-inl.h.

◆ update() [4/4]

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		int	lookahead_level = `-1`
	)

Updates a leaf node. A use case is when the bounding volume of an object changes. Ensure every parent node has its bounding volume expand or shrink to fit the bounding volumes of its children.

Note: Strangely the structure of the tree may change even if the bounding volume of the leaf node does not change. It is just another valid tree of the same set of objects. This is because update() works by first removing leaf and then inserting leaf back. The structural change could be as simple as switching the order of two leaves if the sibling of the leaf is also a leaf. Or it could be more complicated if the sibling is an internal node.

Definition at line 124 of file hierarchy_tree-inl.h.

◆ update_()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::update_	(	Node *	leaf,
		const BV &	bv
	)

private

update one leaf node's bounding volume

Definition at line 652 of file hierarchy_tree-inl.h.

Member Data Documentation

◆ bu_threshold

template<typename BV >

int hpp::fcl::detail::HierarchyTree< BV >::bu_threshold

decide the depth to use expensive bottom-up algorithm

Definition at line 269 of file hierarchy_tree.h.

◆ free_node

template<typename BV >

Node* hpp::fcl::detail::HierarchyTree< BV >::free_node

protected

This is a one Node cache, the reason is that we need to remove a node and then add it again frequently.

Definition at line 260 of file hierarchy_tree.h.

◆ max_lookahead_level

template<typename BV >

int hpp::fcl::detail::HierarchyTree< BV >::max_lookahead_level

protected

Definition at line 262 of file hierarchy_tree.h.

◆ n_leaves

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::n_leaves

protected

Definition at line 254 of file hierarchy_tree.h.

◆ opath

template<typename BV >

unsigned int hpp::fcl::detail::HierarchyTree< BV >::opath

protected

Definition at line 256 of file hierarchy_tree.h.

◆ root_node

template<typename BV >

Node* hpp::fcl::detail::HierarchyTree< BV >::root_node

protected

Definition at line 252 of file hierarchy_tree.h.

◆ topdown_level

template<typename BV >

int hpp::fcl::detail::HierarchyTree< BV >::topdown_level

decide which topdown algorithm to use

Definition at line 266 of file hierarchy_tree.h.

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

Classes

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Private Types

Private Member Functions

Static Private Member Functions

Detailed Description

template<typename BV> class hpp::fcl::detail::HierarchyTree< BV >

Member Typedef Documentation

◆ Node

◆ NodeVecConstIterator

◆ NodeVecIterator

Constructor & Destructor Documentation

◆ HierarchyTree()

◆ ~HierarchyTree()

Member Function Documentation

◆ balanceBottomup()

◆ balanceIncremental()

◆ balanceTopdown()

◆ bottomup()

◆ clear()

◆ createNode() [1/3]

◆ createNode() [2/3]

◆ createNode() [3/3]

◆ deleteNode()

◆ empty()

◆ extractLeaves()

◆ fetchLeaves()

◆ getMaxDepth() [1/2]

◆ getMaxDepth() [2/2]

◆ getMaxHeight() [1/2]

◆ getMaxHeight() [2/2]

◆ getRoot() [1/2]

◆ getRoot() [2/2]

◆ indexOf()

◆ init()

◆ init_0()

◆ init_1()

◆ init_2()

◆ init_3()

◆ insert()

◆ insertLeaf()

◆ mortonRecurse_0()

◆ mortonRecurse_1()

◆ mortonRecurse_2()

◆ print()

◆ recurseDeleteNode()

◆ recurseRefit()

◆ refit()

◆ remove()

◆ removeLeaf()

◆ size()

◆ sort()

◆ topdown()

◆ topdown_0()

◆ topdown_1()

◆ update() [1/4]

◆ update() [2/4]

◆ update() [3/4]

◆ update() [4/4]

◆ update_()

Member Data Documentation

◆ bu_threshold

◆ free_node

◆ max_lookahead_level

◆ n_leaves

◆ opath

◆ root_node

◆ topdown_level

template<typename BV>
class hpp::fcl::detail::HierarchyTree< BV >