hpp::fcl::details::EPA Struct Reference

class for EPA algorithm More...

#include <gjk.h>

Classes
struct	SimplexF
struct	SimplexHorizon
struct	SimplexList

Public Types
typedef GJK::SimplexV	SimplexV
enum	Status {   Failed = 0, Valid = 1, AccuracyReached = 1 << 1 | Valid, Degenerated = 1 << 1 | Failed,   NonConvex = 2 << 1 | Failed, InvalidHull = 3 << 1 | Failed, OutOfFaces = 4 << 1 | Failed, OutOfVertices = 5 << 1 | Failed,   FallBack = 6 << 1 | 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	getClosestPoints (const MinkowskiDiff &shape, Vec3f &w0, Vec3f &w1)
void	initialize ()
	~EPA ()

Static Public Member Functions
static void	bind (SimplexF *fa, size_t ea, SimplexF *fb, size_t eb)

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 Member Functions
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, FCL_REAL &dist)
SimplexF *	newFace (SimplexV *a, SimplexV *b, SimplexV *vertex, bool forced)

Private Attributes
unsigned int	max_face_num
unsigned int	max_iterations
unsigned int	max_vertex_num
FCL_REAL	tolerance

Detailed Description

class for EPA algorithm

Definition at line 312 of file gjk.h.

Member Typedef Documentation

SimplexV

typedef GJK::SimplexV hpp::fcl::details::EPA::SimplexV

Definition at line 313 of file gjk.h.

Member Enumeration Documentation

Status

enum hpp::fcl::details::EPA::Status

Enumerator
Failed
Valid
AccuracyReached
Degenerated
NonConvex
InvalidHull
OutOfFaces
OutOfVertices
FallBack

Definition at line 367 of file gjk.h.

Constructor & Destructor Documentation

EPA()

hpp::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 388 of file gjk.h.

~EPA()

hpp::fcl::details::EPA::~EPA ( )

inline

Definition at line 397 of file gjk.h.

Member Function Documentation

bind()

static void hpp::fcl::details::EPA::bind ( SimplexF *  fa, size_t  ea, SimplexF *  fb, size_t  eb  )

inlinestatic

Definition at line 346 of file gjk.h.

evaluate()

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

Returns

a Status which can be demangled using (status & Valid) or (status & Failed). The other values provide a more detailled status

Definition at line 1532 of file src/narrowphase/gjk.cpp.

expand()

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

private

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

Definition at line 1639 of file src/narrowphase/gjk.cpp.

findBest()

EPA::SimplexF * hpp::fcl::details::EPA::findBest ( )

private

Find the best polytope face to split.

Definition at line 1519 of file src/narrowphase/gjk.cpp.

getClosestPoints()

bool hpp::fcl::details::EPA::getClosestPoints	(	const MinkowskiDiff &	shape,
		Vec3f &	w0,
		Vec3f &	w1
	)

Get the closest points on each object.

Returns

true on success

Definition at line 1691 of file src/narrowphase/gjk.cpp.

getEdgeDist()

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

private

Definition at line 1451 of file src/narrowphase/gjk.cpp.

initialize()

void hpp::fcl::details::EPA::initialize

(

)

Definition at line 1440 of file src/narrowphase/gjk.cpp.

newFace()

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

private

Definition at line 1480 of file src/narrowphase/gjk.cpp.

Member Data Documentation

depth

FCL_REAL hpp::fcl::details::EPA::depth

Definition at line 382 of file gjk.h.

fc_store

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

Definition at line 384 of file gjk.h.

hull

SimplexList hpp::fcl::details::EPA::hull

Definition at line 386 of file gjk.h.

max_face_num

unsigned int hpp::fcl::details::EPA::max_face_num

private

Definition at line 361 of file gjk.h.

max_iterations

unsigned int hpp::fcl::details::EPA::max_iterations

private

Definition at line 363 of file gjk.h.

max_vertex_num

unsigned int hpp::fcl::details::EPA::max_vertex_num

private

Definition at line 362 of file gjk.h.

nextsv

size_t hpp::fcl::details::EPA::nextsv

Definition at line 385 of file gjk.h.

normal

Vec3f hpp::fcl::details::EPA::normal

Definition at line 381 of file gjk.h.

result

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

Definition at line 380 of file gjk.h.

status

Status hpp::fcl::details::EPA::status

Definition at line 379 of file gjk.h.

stock

SimplexList hpp::fcl::details::EPA::stock

Definition at line 386 of file gjk.h.

sv_store

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

Definition at line 383 of file gjk.h.

tolerance

FCL_REAL hpp::fcl::details::EPA::tolerance

private

Definition at line 364 of file gjk.h.

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

• gjk.h
• src/narrowphase/gjk.cpp