BV_node-inl.h
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35 
38 #ifndef FCL_BV_BVNODE_INL_H
39 #define FCL_BV_BVNODE_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 template <typename BV>
48 bool BVNode<BV>::overlap(const BVNode& other) const
49 {
50  return bv.overlap(other.bv);
51 }
52 
53 //==============================================================================
54 template <typename BV>
56  const BVNode& other, Vector3<S>* P1, Vector3<S>* P2) const
57 {
58  return bv.distance(other.bv, P1, P2);
59 }
60 
61 //==============================================================================
62 template <typename BV>
64 {
65  return bv.center();
66 }
67 
68 //==============================================================================
69 template <typename S, typename BV>
71 {
72  static Matrix3<S> run(const BVNode<BV>& /*node*/)
73  {
74  return Matrix3<S>::Identity();
75  }
76 };
77 
78 //==============================================================================
79 template <typename BV>
81 {
83 }
84 
85 //==============================================================================
86 template <typename S>
87 struct GetOrientationImpl<S, OBB<S>>
88 {
89  static Matrix3<S> run(const OBB<S>& bv)
90  {
91  return bv.axis;
92  }
93 };
94 
95 //==============================================================================
96 template <typename S>
97 struct GetOrientationImpl<S, RSS<S>>
98 {
99  static Matrix3<S> run(const RSS<S>& bv)
100  {
101  return bv.axis;
102  }
103 };
104 
105 //==============================================================================
106 template <typename S>
108 {
109  static Matrix3<S> run(const OBBRSS<S>& bv)
110  {
111  return bv.obb.axis;
112  }
113 };
114 
115 } // namespace fcl
116 
117 #endif
fcl::OBB::axis
Matrix3< S > axis
Orientation of OBB. The axes of the rotation matrix are the principle directions of the box....
Definition: OBB.h:62
fcl::GetOrientationImpl::run
static Matrix3< S > run(const BVNode< BV > &)
Definition: BV_node-inl.h:72
BV_node.h
fcl::GetOrientationImpl< S, OBBRSS< S > >::run
static Matrix3< S > run(const OBBRSS< S > &bv)
Definition: BV_node-inl.h:109
fcl::BVNode::bv
BV bv
bounding volume storing the geometry
Definition: BV_node.h:57
fcl::GetOrientationImpl< S, RSS< S > >::run
static Matrix3< S > run(const RSS< S > &bv)
Definition: BV_node-inl.h:99
fcl::BVNode::overlap
bool overlap(const BVNode &other) const
Check whether two BVNode collide.
Definition: BV_node-inl.h:48
fcl::RSS
A class for rectangle swept sphere bounding volume.
Definition: RSS.h:58
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::GetOrientationImpl
Definition: BV_node-inl.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::BVNode::getCenter
Vector3< S > getCenter() const
Access the center of the BV.
Definition: BV_node-inl.h:63
fcl::OBB
Oriented bounding box class.
Definition: OBB.h:51
fcl::OBBRSS::obb
OBB< S > obb
OBB member, for rotation.
Definition: OBBRSS.h:57
fcl::BVNode
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Definition: BV_node.h:52
fcl::BVNode::S
typename BV::S S
Definition: BV_node.h:54
fcl::GetOrientationImpl< S, OBB< S > >::run
static Matrix3< S > run(const OBB< S > &bv)
Definition: BV_node-inl.h:89
fcl::OBBRSS
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:50
fcl::BVNode::distance
S distance(const BVNode &other, Vector3< S > *P1=nullptr, Vector3< S > *P2=nullptr) const
Compute the distance between two BVNode. P1 and P2, if not nullptr and the underlying BV supports dis...
Definition: BV_node-inl.h:55
fcl::RSS::axis
Matrix3< S > axis
Frame T's orientation in frame F.
Definition: RSS.h:70
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::BVNode::getOrientation
Matrix3< S > getOrientation() const
Access the orientation of the BV.
Definition: BV_node-inl.h:80


fcl
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autogenerated on Fri Jun 11 2021 02:38:02