octree_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_OCTREECOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_OCTREE_OCTREECOLLISIONTRAVERSALNODE_H
40 
41 #include "fcl/config.h"
42 #if !(FCL_HAVE_OCTOMAP)
43 #error "This header requires fcl to be compiled with octomap support"
44 #endif
45 
49 
50 namespace fcl
51 {
52 
53 namespace detail
54 {
55 
57 template <typename NarrowPhaseSolver>
59  : public CollisionTraversalNodeBase<typename NarrowPhaseSolver::S>
60 {
61 public:
62 
63  using S = typename NarrowPhaseSolver::S;
64 
66 
67  bool BVTesting(int, int) const;
68 
69  void leafTesting(int, int) const;
70 
71  const OcTree<S>* model1;
72  const OcTree<S>* model2;
73 
76 
78 
79  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
80 };
81 
84 template <typename NarrowPhaseSolver>
85 bool initialize(
87  const OcTree<typename NarrowPhaseSolver::S>& model1,
89  const OcTree<typename NarrowPhaseSolver::S>& model2,
91  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
94 
95 } // namespace detail
96 } // namespace fcl
97 
99 
100 #endif
fcl::detail::OcTreeSolver
Algorithms for collision related with octree.
Definition: octree_solver.h:59
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::detail::OcTreeCollisionTraversalNode
Traversal node for octree collision.
Definition: octree_collision_traversal_node.h:58
fcl::detail::OcTreeCollisionTraversalNode::otsolver
const OcTreeSolver< NarrowPhaseSolver > * otsolver
Definition: octree_collision_traversal_node.h:77
octree_solver.h
fcl::detail::OcTreeCollisionTraversalNode::model2
const OcTree< S > * model2
Definition: octree_collision_traversal_node.h:72
fcl::detail::OcTreeCollisionTraversalNode::S
typename NarrowPhaseSolver::S S
Definition: octree_collision_traversal_node.h:63
fcl::CollisionResult
collision result
Definition: collision_request.h:48
fcl::CollisionRequest
Parameters for performing collision request.
Definition: collision_request.h:52
fcl::detail::initialize
template bool initialize(MeshCollisionTraversalNodeOBB< double > &node, const BVHModel< OBB< double >> &model1, const Transform3< double > &tf1, const BVHModel< OBB< double >> &model2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
fcl::detail::CollisionTraversalNodeBase
Node structure encoding the information required for collision traversal.
Definition: collision_traversal_node_base.h:52
octree_collision_traversal_node-inl.h
fcl::detail::OcTreeCollisionTraversalNode::tf1
Transform3< S > tf1
Definition: octree_collision_traversal_node.h:74
fcl::detail::OcTreeCollisionTraversalNode::model1
const OcTree< S > * model1
Definition: octree_collision_traversal_node.h:71
collision_traversal_node_base.h
octree.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::detail::OcTreeCollisionTraversalNode::tf2
Transform3< S > tf2
Definition: octree_collision_traversal_node.h:75


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autogenerated on Thu Mar 23 2023 02:38:06