Public Types | Public Member Functions | Public Attributes | List of all members
fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape > Class Template Reference

Traversal node for distance computation between BVH and shape. More...

#include <bvh_shape_distance_traversal_node.h>

Inheritance diagram for fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >:
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Public Types

using S = typename BV::S
 

Public Member Functions

 BVHShapeDistanceTraversalNode ()
 
S BVTesting (int b1, int b2) const
 BV culling test in one BVTT node. More...
 
int getFirstLeftChild (int b) const
 Obtain the left child of BV node in the first BVH. More...
 
int getFirstRightChild (int b) const
 Obtain the right child of BV node in the first BVH. More...
 
bool isFirstNodeLeaf (int b) const
 Whether the BV node in the first BVH tree is leaf. More...
 
- Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< BV::S >
virtual bool canStop (BV::S c) const
 Check whether the traversal can stop. More...
 
 DistanceTraversalNodeBase ()
 
void enableStatistics (bool enable)
 Whether store some statistics information during traversal. More...
 
virtual void leafTesting (int b1, int b2) const
 Leaf test between node b1 and b2, if they are both leafs. More...
 
virtual ~DistanceTraversalNodeBase ()
 
- Public Member Functions inherited from fcl::detail::TraversalNodeBase< BV::S >
virtual bool firstOverSecond (int b1, int b2) const
 Traverse the subtree of the node in the first tree first. More...
 
virtual int getSecondLeftChild (int b) const
 Get the left child of the node b in the second tree. More...
 
virtual int getSecondRightChild (int b) const
 Get the right child of the node b in the second tree. More...
 
virtual bool isSecondNodeLeaf (int b) const
 Whether b is a leaf node in the second BVH tree. More...
 
virtual void postprocess ()
 
virtual void preprocess ()
 
virtual ~TraversalNodeBase ()
 

Public Attributes

const BVHModel< BV > * model1
 
const Shape * model2
 
BV model2_bv
 
int num_bv_tests
 
int num_leaf_tests
 
S query_time_seconds
 
- Public Attributes inherited from fcl::detail::DistanceTraversalNodeBase< BV::S >
bool enable_statistics
 Whether stores statistics. More...
 
DistanceRequest< BV::S > request
 request setting for distance More...
 
DistanceResult< BV::S > * result
 distance result kept during the traversal iteration More...
 
- Public Attributes inherited from fcl::detail::TraversalNodeBase< BV::S >
Transform3< BV::S > tf1
 configuation of first object More...
 
Transform3< BV::S > tf2
 configuration of second object More...
 

Detailed Description

template<typename BV, typename Shape>
class fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >

Traversal node for distance computation between BVH and shape.

Definition at line 52 of file bvh_shape_distance_traversal_node.h.

Member Typedef Documentation

◆ S

template<typename BV , typename Shape >
using fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::S = typename BV::S

Definition at line 57 of file bvh_shape_distance_traversal_node.h.

Constructor & Destructor Documentation

◆ BVHShapeDistanceTraversalNode()

template<typename BV , typename Shape >
fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::BVHShapeDistanceTraversalNode

Definition at line 53 of file bvh_shape_distance_traversal_node-inl.h.

Member Function Documentation

◆ BVTesting()

template<typename BV , typename Shape >
BV::S fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::BVTesting ( int  b1,
int  b2 
) const
virtual

◆ getFirstLeftChild()

template<typename BV , typename Shape >
int fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::getFirstLeftChild ( int  b) const
virtual

Obtain the left child of BV node in the first BVH.

Reimplemented from fcl::detail::TraversalNodeBase< BV::S >.

Definition at line 73 of file bvh_shape_distance_traversal_node-inl.h.

◆ getFirstRightChild()

template<typename BV , typename Shape >
int fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::getFirstRightChild ( int  b) const
virtual

Obtain the right child of BV node in the first BVH.

Reimplemented from fcl::detail::TraversalNodeBase< BV::S >.

Definition at line 80 of file bvh_shape_distance_traversal_node-inl.h.

◆ isFirstNodeLeaf()

template<typename BV , typename Shape >
bool fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::isFirstNodeLeaf ( int  b) const
virtual

Whether the BV node in the first BVH tree is leaf.

Reimplemented from fcl::detail::TraversalNodeBase< BV::S >.

Definition at line 66 of file bvh_shape_distance_traversal_node-inl.h.

Member Data Documentation

◆ model1

template<typename BV , typename Shape >
const BVHModel<BV>* fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::model1

Definition at line 73 of file bvh_shape_distance_traversal_node.h.

◆ model2

template<typename BV , typename Shape >
const Shape* fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::model2

Definition at line 74 of file bvh_shape_distance_traversal_node.h.

◆ model2_bv

template<typename BV , typename Shape >
BV fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::model2_bv

Definition at line 75 of file bvh_shape_distance_traversal_node.h.

◆ num_bv_tests

template<typename BV , typename Shape >
int fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::num_bv_tests
mutable

Definition at line 77 of file bvh_shape_distance_traversal_node.h.

◆ num_leaf_tests

template<typename BV , typename Shape >
int fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::num_leaf_tests
mutable

Definition at line 78 of file bvh_shape_distance_traversal_node.h.

◆ query_time_seconds

template<typename BV , typename Shape >
S fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >::query_time_seconds
mutable

Definition at line 79 of file bvh_shape_distance_traversal_node.h.


The documentation for this class was generated from the following files:


fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:02