broadphase_dynamic_AABB_tree_array.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
39 #define FCL_BROAD_PHASE_DYNAMIC_AABB_TREE_ARRAY_H
40 
41 #include <unordered_map>
42 #include <functional>
43 #include <limits>
44 
45 #include "fcl/math/bv/utility.h"
46 #include "fcl/geometry/shape/box.h"
50 
51 namespace fcl
52 {
53 
54 template <typename S>
56 {
57 public:
58 
60  using DynamicAABBTable = std::unordered_map<CollisionObject<S>*, size_t>;
61 
67 
70 
72 
74  void registerObjects(const std::vector<CollisionObject<S>*>& other_objs);
75 
77  void registerObject(CollisionObject<S>* obj);
78 
80  void unregisterObject(CollisionObject<S>* obj);
81 
83  void setup();
84 
86  void update();
87 
89  void update(CollisionObject<S>* updated_obj);
90 
92  void update(const std::vector<CollisionObject<S>*>& updated_objs);
93 
95  void clear();
96 
98  void getObjects(std::vector<CollisionObject<S>*>& objs) const;
99 
101  void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
102 
104  void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
105 
107  void collide(void* cdata, CollisionCallBack<S> callback) const;
108 
110  void distance(void* cdata, DistanceCallBack<S> callback) const;
111 
113  void collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const;
114 
116  void distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const;
117 
119  bool empty() const;
120 
122  size_t size() const;
123 
125 
126 private:
128  std::unordered_map<CollisionObject<S>*, size_t> table;
129 
130  bool setup_;
131 
132  void update_(CollisionObject<S>* updated_obj);
133 };
134 
137 
138 } // namespace fcl
139 
141 
142 #endif
utility.h
fcl::DynamicAABBTreeCollisionManager_Array::tree_topdown_balance_threshold
int & tree_topdown_balance_threshold
Definition: broadphase_dynamic_AABB_tree_array.h:64
fcl::detail::implementation_array::HierarchyTree
Class for hierarchy tree structure.
Definition: hierarchy_tree_array.h:61
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::DynamicAABBTreeCollisionManager_Array::tree_incremental_balance_pass
int tree_incremental_balance_pass
Definition: broadphase_dynamic_AABB_tree_array.h:63
fcl::DynamicAABBTreeCollisionManager_Array::tree_topdown_level
int & tree_topdown_level
Definition: broadphase_dynamic_AABB_tree_array.h:65
broadphase_collision_manager.h
obj
CollisionObject< S > * obj
object
Definition: broadphase_SaP.h:164
fcl::DistanceCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata, S &dist) DistanceCallBack
Callback for distance between two objects, Return value is whether can stop now, also return the mini...
Definition: broadphase_collision_manager.h:60
broadphase_dynamic_AABB_tree_array-inl.h
fcl::CollisionCallBack
bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata) CollisionCallBack
Callback for collision between two objects. Return value is whether can stop now.
Definition: broadphase_collision_manager.h:53
box.h
fcl::detail::implementation_array::NodeBase
Definition: node_base_array.h:53
fcl::DynamicAABBTreeCollisionManager_Array::DynamicAABBTable
std::unordered_map< CollisionObject< S > *, size_t > DynamicAABBTable
Definition: broadphase_dynamic_AABB_tree_array.h:60
fcl::DynamicAABBTreeCollisionManager_Array::max_tree_nonbalanced_level
int max_tree_nonbalanced_level
Definition: broadphase_dynamic_AABB_tree_array.h:62
fcl::DynamicAABBTreeCollisionManager_Array::octree_as_geometry_collide
bool octree_as_geometry_collide
Definition: broadphase_dynamic_AABB_tree_array.h:68
hierarchy_tree_array.h
fcl::collide
template FCL_EXPORT std::size_t collide(const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
fcl::DynamicAABBTreeCollisionManager_Array::tree_init_level
int tree_init_level
Definition: broadphase_dynamic_AABB_tree_array.h:66
fcl::DynamicAABBTreeCollisionManager_Array
Definition: broadphase_dynamic_AABB_tree_array.h:55
fcl::DynamicAABBTreeCollisionManager_Array::setup_
bool setup_
Definition: broadphase_dynamic_AABB_tree_array.h:130
utility.h
fcl::DynamicAABBTreeCollisionManager_Array::octree_as_geometry_distance
bool octree_as_geometry_distance
Definition: broadphase_dynamic_AABB_tree_array.h:69
fcl::DynamicAABBTreeCollisionManager_Array::dtree
detail::implementation_array::HierarchyTree< AABB< S > > dtree
Definition: broadphase_dynamic_AABB_tree_array.h:127
fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:51
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::DynamicAABBTreeCollisionManager_Array::table
std::unordered_map< CollisionObject< S > *, size_t > table
Definition: broadphase_dynamic_AABB_tree_array.h:128
fcl::BroadPhaseCollisionManager
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:66


fcl
Author(s):
autogenerated on Tue Jun 22 2021 07:27:49