.. _program_listing_file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_traversal_node_base.h:

Program Listing for File traversal_node_base.h
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_hpp-fcl_include_hpp_fcl_internal_traversal_node_base.h>` (``/tmp/ws/src/hpp-fcl/include/hpp/fcl/internal/traversal_node_base.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.
    *   * Neither the name of Open Source Robotics Foundation nor the names of its
    *     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
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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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
    *  POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef HPP_FCL_TRAVERSAL_NODE_BASE_H
   #define HPP_FCL_TRAVERSAL_NODE_BASE_H
   
   
   #include <hpp/fcl/data_types.h>
   #include <hpp/fcl/math/transform.h>
   #include <hpp/fcl/collision_data.h>
   
   namespace hpp {
   namespace fcl {
   
   
   class TraversalNodeBase {
    public:
     TraversalNodeBase() : enable_statistics(false) {}
   
     virtual ~TraversalNodeBase() {}
   
     virtual void preprocess() {}
   
     virtual void postprocess() {}
   
     virtual bool isFirstNodeLeaf(unsigned int /*b*/) const { return true; }
   
     virtual bool isSecondNodeLeaf(unsigned int /*b*/) const { return true; }
   
     virtual bool firstOverSecond(unsigned int /*b1*/, unsigned int /*b2*/) const {
       return true;
     }
   
     virtual int getFirstLeftChild(unsigned int b) const { return (int)b; }
   
     virtual int getFirstRightChild(unsigned int b) const { return (int)b; }
   
     virtual int getSecondLeftChild(unsigned int b) const { return (int)b; }
   
     virtual int getSecondRightChild(unsigned int b) const { return (int)b; }
   
     void enableStatistics(bool enable) { enable_statistics = enable; }
   
     Transform3f tf1;
   
     Transform3f tf2;
   
     bool enable_statistics;
   };
   
   
   class CollisionTraversalNodeBase : public TraversalNodeBase {
    public:
     CollisionTraversalNodeBase(const CollisionRequest& request_)
         : request(request_), result(NULL) {}
   
     virtual ~CollisionTraversalNodeBase() {}
   
     virtual bool BVDisjoints(unsigned int b1, unsigned int b2,
                              FCL_REAL& sqrDistLowerBound) const = 0;
   
     virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/,
                               FCL_REAL& /*sqrDistLowerBound*/) const = 0;
   
     bool canStop() const { return this->request.isSatisfied(*(this->result)); }
   
     const CollisionRequest& request;
   
     CollisionResult* result;
   };
   
   
   
   class DistanceTraversalNodeBase : public TraversalNodeBase {
    public:
     DistanceTraversalNodeBase() : result(NULL) {}
   
     virtual ~DistanceTraversalNodeBase() {}
   
     virtual FCL_REAL BVDistanceLowerBound(unsigned int /*b1*/,
                                           unsigned int /*b2*/) const {
       return (std::numeric_limits<FCL_REAL>::max)();
     }
   
     virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0;
   
     virtual bool canStop(FCL_REAL /*c*/) const { return false; }
   
     DistanceRequest request;
   
     DistanceResult* result;
   };
   
   
   }  // namespace fcl
   
   }  // namespace hpp
   
   
   #endif