octree_distance_traversal_node.h

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#ifndef FCL_TRAVERSAL_OCTREE_OCTREEDISTANCETRAVERSALNODE_H
#define FCL_TRAVERSAL_OCTREE_OCTREEDISTANCETRAVERSALNODE_H
 
#include "fcl/config.h"
#if !(FCL_HAVE_OCTOMAP)
#error "This header requires fcl to be compiled with octomap support"
#endif
 
#include "fcl/geometry/octree/octree.h"
#include "fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h"
#include "fcl/narrowphase/detail/traversal/octree/octree_solver.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename NarrowPhaseSolver>
class FCL_EXPORT OcTreeDistanceTraversalNode
    : public DistanceTraversalNodeBase<typename NarrowPhaseSolver::S>
{
public:
 
  using S = typename NarrowPhaseSolver::S;
 
  OcTreeDistanceTraversalNode();
 
  S BVTesting(int, int) const;
 
  void leafTesting(int, int) const;
 
  const OcTree<S>* model1;
  const OcTree<S>* model2;
 
  const OcTreeSolver<NarrowPhaseSolver>* otsolver;
};
 
template <typename NarrowPhaseSolver>
bool initialize(
    OcTreeDistanceTraversalNode<NarrowPhaseSolver>& node,
    const OcTree<typename NarrowPhaseSolver::S>& model1,
    const Transform3<typename NarrowPhaseSolver::S>& tf1,
    const OcTree<typename NarrowPhaseSolver::S>& model2,
    const Transform3<typename NarrowPhaseSolver::S>& tf2,
    const OcTreeSolver<NarrowPhaseSolver>* otsolver,
    const DistanceRequest<typename NarrowPhaseSolver::S>& request,
    DistanceResult<typename NarrowPhaseSolver::S>& result);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/octree/distance/octree_distance_traversal_node-inl.h"
 
#endif