hfield.cpp

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#include <hpp/fcl/hfield.h>

#include <iostream>
#include <string.h>

#include <hpp/fcl/BV/BV.h>
#include <hpp/fcl/shape/convex.h>

#include <hpp/fcl/internal/BV_splitter.h>
#include <hpp/fcl/internal/BV_fitter.h>

namespace hpp {
namespace fcl {

template <>
NODE_TYPE HeightField<AABB>::getNodeType() const {
  return HF_AABB;
}

template <>
NODE_TYPE HeightField<OBB>::getNodeType() const {
  return BV_UNKNOWN;  // HF_OBB;
}

template <>
NODE_TYPE HeightField<RSS>::getNodeType() const {
  return BV_UNKNOWN;  // HF_RSS;
}

template <>
NODE_TYPE HeightField<kIOS>::getNodeType() const {
  return BV_UNKNOWN;  // BV_kIOS;
}

template <>
NODE_TYPE HeightField<OBBRSS>::getNodeType() const {
  return HF_OBBRSS;
}

template <>
NODE_TYPE HeightField<KDOP<16> >::getNodeType() const {
  return BV_UNKNOWN;  // BV_KDOP16;
}

template <>
NODE_TYPE HeightField<KDOP<18> >::getNodeType() const {
  return BV_UNKNOWN;  // BV_KDOP18;
}

template <>
NODE_TYPE HeightField<KDOP<24> >::getNodeType() const {
  return BV_UNKNOWN;  // BV_KDOP24;
}

// template class HeightField<KDOP<16> >;
// template class HeightField<KDOP<18> >;
// template class HeightField<KDOP<24> >;
template class HeightField<OBB>;
template class HeightField<AABB>;
template class HeightField<RSS>;
// template class HeightField<kIOS>;
template class HeightField<OBBRSS>;

}  // namespace fcl

}  // namespace hpp