hpp::fcl::HFNode< BV > Struct Template Reference

#include <hfield.h>

Inheritance diagram for hpp::fcl::HFNode< BV >:

Public Types
typedef HFNodeBase	Base

Public Member Functions
FCL_REAL	distance (const HFNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const
	Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More...
Vec3f	getCenter () const
	Access to the center of the BV. More...
const Matrix3f &	getOrientation () const
	Access to the orientation of the BV. More...
bool	operator!= (const HFNode &other) const
	Difference operator. More...
bool	operator== (const HFNode &other) const
	Equality operator. More...
bool	overlap (const HFNode &other) const
	Check whether two BVNode collide. More...
bool	overlap (const HFNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check whether two BVNode collide. More...
virtual	~HFNode ()
Public Member Functions inherited from hpp::fcl::HFNodeBase
	HFNodeBase ()
	Default constructor. More...
bool	isLeaf () const
	Whether current node is a leaf node (i.e. contains a primitive index) More...
size_t	leftChild () const
	Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...
Eigen::Vector2i	leftChildIndexes () const
bool	operator!= (const HFNodeBase &other) const
	Difference operator. More...
bool	operator== (const HFNodeBase &other) const
	Comparison operator. More...
size_t	rightChild () const
	Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...
Eigen::Vector2i	rightChildIndexes () const

Public Attributes
BV	bv
	bounding volume storing the geometry More...
Public Attributes inherited from hpp::fcl::HFNodeBase
size_t	first_child
	An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More...
FCL_REAL	max_height
Eigen::DenseIndex	x_id
Eigen::DenseIndex	x_size
Eigen::DenseIndex	y_id
Eigen::DenseIndex	y_size

Detailed Description

template<typename BV>
struct hpp::fcl::HFNode< BV >

Definition at line 105 of file hfield.h.

Member Typedef Documentation

Base

template<typename BV>

typedef HFNodeBase hpp::fcl::HFNode< BV >::Base

Definition at line 106 of file hfield.h.

Constructor & Destructor Documentation

~HFNode()

template<typename BV>

virtual hpp::fcl::HFNode< BV >::~HFNode ( )

inlinevirtual

Definition at line 143 of file hfield.h.

Member Function Documentation

distance()

template<typename BV>

FCL_REAL hpp::fcl::HFNode< BV >::distance ( const HFNode< BV > &  other, Vec3f *  P1 = NULL, Vec3f *  P2 = NULL  ) const

inline

Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

Definition at line 129 of file hfield.h.

getCenter()

template<typename BV>

Vec3f hpp::fcl::HFNode< BV >::getCenter ( ) const

inline

Access to the center of the BV.

Definition at line 135 of file hfield.h.

getOrientation()

template<typename BV>

const Matrix3f& hpp::fcl::HFNode< BV >::getOrientation ( ) const

inline

Access to the orientation of the BV.

Definition at line 138 of file hfield.h.

operator!=()

template<typename BV>

bool hpp::fcl::HFNode< BV >::operator!= ( const HFNode< BV > &  other ) const

inline

Difference operator.

Definition at line 117 of file hfield.h.

operator==()

template<typename BV>

bool hpp::fcl::HFNode< BV >::operator== ( const HFNode< BV > &  other ) const

inline

Equality operator.

Definition at line 112 of file hfield.h.

overlap() [1/2]

template<typename BV>

bool hpp::fcl::HFNode< BV >::overlap ( const HFNode< BV > &  other ) const

inline

Check whether two BVNode collide.

Definition at line 120 of file hfield.h.

overlap() [2/2]

template<typename BV>

bool hpp::fcl::HFNode< BV >::overlap ( const HFNode< BV > &  other, const CollisionRequest &  request, FCL_REAL &  sqrDistLowerBound  ) const

inline

Check whether two BVNode collide.

Definition at line 122 of file hfield.h.

Member Data Documentation

bv

template<typename BV>

BV hpp::fcl::HFNode< BV >::bv

bounding volume storing the geometry

Definition at line 109 of file hfield.h.

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

• hfield.h