BV_fitter.h
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35 
38 #ifndef FCL_BV_FITTER_H
39 #define FCL_BV_FITTER_H
40 
41 #include <iostream>
42 #include "fcl/math/triangle.h"
43 #include "fcl/math/bv/kIOS.h"
44 #include "fcl/math/bv/OBBRSS.h"
47 
48 namespace fcl
49 {
50 
51 namespace detail
52 {
53 
55 template <typename BV>
56 class FCL_EXPORT BVFitter : public BVFitterBase<BV>
57 {
58 public:
59 
60  using S = typename BVFitterBase<BV>::S;
61 
63  virtual ~BVFitter();
64 
66  void set(
67  Vector3<S>* vertices_, Triangle* tri_indices_, BVHModelType type_);
68 
70  void set(
71  Vector3<S>* vertices_,
72  Vector3<S>* prev_vertices_,
73  Triangle* tri_indices_,
74  BVHModelType type_);
75 
78  BV fit(unsigned int* primitive_indices, int num_primitives);
79 
81  void clear();
82 
83 private:
84 
89 
90  template <typename, typename>
91  friend struct SetImpl;
92 
93  template <typename, typename>
94  friend struct FitImpl;
95 };
96 
97 } // namespace detail
98 } // namespace fcl
99 
101 
102 #endif
BVH_internal.h
fcl::detail::BVFitterBase
Interface for fitting a bv given the triangles or points inside it.
Definition: BV_fitter_base.h:55
triangle.h
fcl::detail::SetImpl
Definition: BV_fitter-inl.h:58
fcl::detail::BVFitter::type
BVHModelType type
Definition: BV_fitter.h:88
fcl::BVHModelType
BVHModelType
BVH model type.
Definition: BVH_internal.h:75
fcl::Triangle
Triangle with 3 indices for points.
Definition: triangle.h:48
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
BV_fitter-inl.h
fcl::detail::BVFitterBase::S
typename BV::S S
Definition: BV_fitter_base.h:59
OBBRSS.h
fcl::detail::FitImpl
Definition: BV_fitter-inl.h:84
fcl::detail::BVFitter::tri_indices
Triangle * tri_indices
Definition: BV_fitter.h:87
fcl::detail::BVFitter
The class for the default algorithm fitting a bounding volume to a set of points.
Definition: BV_fitter.h:56
BV_fitter_base.h
fcl::detail::BVFitter::S
typename BVFitterBase< BV >::S S
Definition: BV_fitter.h:60
fcl::detail::BVFitter::prev_vertices
Vector3< S > * prev_vertices
Definition: BV_fitter.h:86
fcl::fit
FCL_EXPORT void fit(const Vector3< typename BV::S > *const ps, int n, BV &bv)
Compute a bounding volume that fits a set of n points.
Definition: math/bv/utility-inl.h:671
kIOS.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::detail::BVFitter::vertices
Vector3< S > * vertices
Definition: BV_fitter.h:85


fcl
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autogenerated on Sat Sep 11 2021 02:37:41