BVH_utility.h
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35 
38 #ifndef HPP_FCL_BVH_UTILITY_H
39 #define HPP_FCL_BVH_UTILITY_H
40 
41 #include <hpp/fcl/BVH/BVH_model.h>
42 
43 namespace hpp {
44 namespace fcl {
47 template <typename BV>
48 HPP_FCL_DLLAPI BVHModel<BV>* BVHExtract(const BVHModel<BV>& model,
49  const Transform3f& pose,
50  const AABB& aabb);
51 
52 template <>
53 HPP_FCL_DLLAPI BVHModel<OBB>* BVHExtract(const BVHModel<OBB>& model,
54  const Transform3f& pose,
55  const AABB& aabb);
56 template <>
57 HPP_FCL_DLLAPI BVHModel<AABB>* BVHExtract(const BVHModel<AABB>& model,
58  const Transform3f& pose,
59  const AABB& aabb);
60 template <>
61 HPP_FCL_DLLAPI BVHModel<RSS>* BVHExtract(const BVHModel<RSS>& model,
62  const Transform3f& pose,
63  const AABB& aabb);
64 template <>
65 HPP_FCL_DLLAPI BVHModel<kIOS>* BVHExtract(const BVHModel<kIOS>& model,
66  const Transform3f& pose,
67  const AABB& aabb);
68 template <>
69 HPP_FCL_DLLAPI BVHModel<OBBRSS>* BVHExtract(const BVHModel<OBBRSS>& model,
70  const Transform3f& pose,
71  const AABB& aabb);
72 template <>
73 HPP_FCL_DLLAPI BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model,
74  const Transform3f& pose,
75  const AABB& aabb);
76 template <>
77 HPP_FCL_DLLAPI BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model,
78  const Transform3f& pose,
79  const AABB& aabb);
80 template <>
81 HPP_FCL_DLLAPI BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model,
82  const Transform3f& pose,
83  const AABB& aabb);
84 
87 HPP_FCL_DLLAPI void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts,
88  unsigned int* indices, unsigned int n,
89  Matrix3f& M);
90 
93 HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(
94  Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n,
95  const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
96 
99 HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts,
100  unsigned int* indices, unsigned int n,
101  Matrix3f& axes, Vec3f& center,
102  Vec3f& extent);
103 
105 HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f& a, const Vec3f& b,
106  const Vec3f& c, Vec3f& center,
107  FCL_REAL& radius);
108 
111 HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts,
112  unsigned int* indices, unsigned int n,
113  const Vec3f& query);
114 
115 } // namespace fcl
116 
117 } // namespace hpp
118 
119 #endif
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
hpp::fcl::maximumDistance
HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3f &query)
Compute the maximum distance from a given center point to a point cloud.
Definition: BVH_utility.cpp:644
hpp::fcl::getCovariance
HPP_FCL_DLLAPI void getCovariance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &M)
Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to poin...
Definition: BVH_utility.cpp:168
octree.r
r
Definition: octree.py:9
hpp::fcl::getExtentAndCenter
HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
Definition: BVH_utility.cpp:562
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp::fcl::getRadiusAndOriginAndRectangleSize
HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
Compute the RSS bounding volume parameters: radius, rectangle size and the origin,...
Definition: BVH_utility.cpp:249
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::circumCircleComputation
HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
Compute the center and radius for a triangle's circumcircle.
Definition: BVH_utility.cpp:571
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
generate_distance_plot.b
float b
Definition: generate_distance_plot.py:7
BVH_model.h
hpp::fcl::BVHExtract
HPP_FCL_DLLAPI BVHModel< BV > * BVHExtract(const BVHModel< BV > &model, const Transform3f &pose, const AABB &aabb)
Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is con...
Definition: BVH_utility.cpp:47


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:13