12 #include <../src/collision_node.h>
21 template <
typename TypeA,
typename TypeB>
24 #ifdef HPP_FCL_HAS_OCTOMAP
26 template <
typename T_SH>
28 typedef ShapeOcTreeCollisionTraversalNode<T_SH> CollisionTraversal_t;
31 template <
typename T_SH>
32 struct HPP_FCL_LOCAL TraversalTraitsCollision<OcTree, T_SH> {
33 typedef OcTreeShapeCollisionTraversalNode<T_SH> CollisionTraversal_t;
37 struct HPP_FCL_LOCAL TraversalTraitsCollision<OcTree, OcTree> {
38 typedef OcTreeCollisionTraversalNode CollisionTraversal_t;
41 template <
typename T_BVH>
42 struct HPP_FCL_LOCAL TraversalTraitsCollision<OcTree, BVHModel<T_BVH> > {
43 typedef OcTreeMeshCollisionTraversalNode<T_BVH> CollisionTraversal_t;
46 template <
typename T_BVH>
47 struct HPP_FCL_LOCAL TraversalTraitsCollision<BVHModel<T_BVH>, OcTree> {
48 typedef MeshOcTreeCollisionTraversalNode<T_BVH> CollisionTraversal_t;
55 template <
typename TypeA,
typename TypeB>
58 #ifdef HPP_FCL_HAS_OCTOMAP
60 template <
typename T_SH>
62 typedef ShapeOcTreeDistanceTraversalNode<T_SH> CollisionTraversal_t;
65 template <
typename T_SH>
66 struct HPP_FCL_LOCAL TraversalTraitsDistance<OcTree, T_SH> {
67 typedef OcTreeShapeDistanceTraversalNode<T_SH> CollisionTraversal_t;
71 struct HPP_FCL_LOCAL TraversalTraitsDistance<OcTree, OcTree> {
72 typedef OcTreeDistanceTraversalNode CollisionTraversal_t;
75 template <
typename T_BVH>
76 struct HPP_FCL_LOCAL TraversalTraitsDistance<OcTree, BVHModel<T_BVH> > {
77 typedef OcTreeMeshDistanceTraversalNode<T_BVH> CollisionTraversal_t;
80 template <
typename T_BVH>
81 struct HPP_FCL_LOCAL TraversalTraitsDistance<BVHModel<T_BVH>, OcTree> {
82 typedef MeshOcTreeDistanceTraversalNode<T_BVH> CollisionTraversal_t;