.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_BV_node.h:

Program Listing for File BV_node.h
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_BV_BV_node.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/BV/BV_node.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, Open Source Robotics Foundation
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
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    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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    */
   
   #ifndef HPP_FCL_BV_NODE_H
   #define HPP_FCL_BV_NODE_H
   
   #include <hpp/fcl/data_types.h>
   
   #include <hpp/fcl/BV/BV.h>
   #include <iostream>
   
   namespace hpp {
   namespace fcl {
   
   
   struct HPP_FCL_DLLAPI BVNodeBase {
     int first_child;
   
     unsigned int first_primitive;
   
     unsigned int num_primitives;
   
     BVNodeBase()
         : first_child(0),
           first_primitive(
               (std::numeric_limits<unsigned int>::max)())  // value we should help
                                                            // to raise an issue
           ,
           num_primitives(0) {}
   
     bool operator==(const BVNodeBase& other) const {
       return first_child == other.first_child &&
              first_primitive == other.first_primitive &&
              num_primitives == other.num_primitives;
     }
   
     bool operator!=(const BVNodeBase& other) const { return !(*this == other); }
   
     inline bool isLeaf() const { return first_child < 0; }
   
     inline int primitiveId() const { return -(first_child + 1); }
   
     inline int leftChild() const { return first_child; }
   
     inline int rightChild() const { return first_child + 1; }
   };
   
   template <typename BV>
   struct HPP_FCL_DLLAPI BVNode : public BVNodeBase {
     typedef BVNodeBase Base;
   
     BV bv;
   
     bool operator==(const BVNode& other) const {
       return Base::operator==(other) && bv == other.bv;
     }
   
     bool operator!=(const BVNode& other) const { return !(*this == other); }
   
     bool overlap(const BVNode& other) const { return bv.overlap(other.bv); }
     bool overlap(const BVNode& other, const CollisionRequest& request,
                  FCL_REAL& sqrDistLowerBound) const {
       return bv.overlap(other.bv, request, sqrDistLowerBound);
     }
   
     FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL,
                       Vec3f* P2 = NULL) const {
       return bv.distance(other.bv, P1, P2);
     }
   
     Vec3f getCenter() const { return bv.center(); }
   
     const Matrix3f& getOrientation() const {
       static const Matrix3f id3 = Matrix3f::Identity();
       return id3;
     }
   
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
   
   template <>
   inline const Matrix3f& BVNode<OBB>::getOrientation() const {
     return bv.axes;
   }
   
   template <>
   inline const Matrix3f& BVNode<RSS>::getOrientation() const {
     return bv.axes;
   }
   
   template <>
   inline const Matrix3f& BVNode<OBBRSS>::getOrientation() const {
     return bv.obb.axes;
   }
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   #endif