BV_node.h
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35 
38 #ifndef FCL_BV_BVNODE_H
39 #define FCL_BV_BVNODE_H
40 
41 #include <iostream>
42 #include "fcl/math/bv/OBB.h"
43 #include "fcl/math/bv/RSS.h"
44 #include "fcl/math/bv/OBBRSS.h"
46 
47 namespace fcl
48 {
49 
51 template <typename BV>
52 struct FCL_EXPORT BVNode : public BVNodeBase
53 {
54  using S = typename BV::S;
55 
57  BV bv;
58 
60  bool overlap(const BVNode& other) const;
61 
64  S distance(
65  const BVNode& other,
66  Vector3<S>* P1 = nullptr,
67  Vector3<S>* P2 = nullptr) const;
68 
70  Vector3<S> getCenter() const;
71 
73  Matrix3<S> getOrientation() const;
74 };
75 
76 } // namespace fcl
77 
79 
80 #endif
fcl::BVNode::bv
BV bv
bounding volume storing the geometry
Definition: BV_node.h:57
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::BVNodeBase
BVNodeBase encodes the tree structure for BVH.
Definition: BV_node_base.h:50
fcl::overlap
bool overlap(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2)
Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.
Definition: kIOS-inl.h:249
BV_node_base.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::BVNode
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Definition: BV_node.h:52
fcl::BVNode< OBB< S > >::S
typename OBB< S > ::S S
Definition: BV_node.h:54
OBBRSS.h
OBB.h
BV_node-inl.h
RSS.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


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