octree_distance_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_OCTREEDISTANCETRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_OCTREE_OCTREEDISTANCETRAVERSALNODE_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //==============================================================================
50 template <typename NarrowPhaseSolver>
53 {
54  model1 = nullptr;
55  model2 = nullptr;
56 
57  otsolver = nullptr;
58 }
59 
60 //==============================================================================
61 template <typename NarrowPhaseSolver>
62 typename NarrowPhaseSolver::S
64 BVTesting(int, int) const
65 {
66  return -1;
67 }
68 
69 //==============================================================================
70 template <typename NarrowPhaseSolver>
72 leafTesting(int, int) const
73 {
74  otsolver->OcTreeDistance(
75  model1, model2, this->tf1, this->tf2, this->request, *this->result);
76 }
77 
78 //==============================================================================
79 template <typename NarrowPhaseSolver>
82  const OcTree<typename NarrowPhaseSolver::S>& model1,
84  const OcTree<typename NarrowPhaseSolver::S>& model2,
86  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
89 {
90  node.request = request;
91  node.result = &result;
92 
93  node.model1 = &model1;
94  node.model2 = &model2;
95 
96  node.otsolver = otsolver;
97 
98  node.tf1 = tf1;
99  node.tf2 = tf2;
100 
101  return true;
102 }
103 
104 } // namespace detail
105 } // namespace fcl
106 
107 #endif
octree_distance_traversal_node.h
fcl::DistanceRequest
request to the distance computation
Definition: distance_request.h:52
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::OcTreeDistanceTraversalNode::otsolver
const OcTreeSolver< NarrowPhaseSolver > * otsolver
Definition: octree_distance_traversal_node.h:74
fcl::detail::DistanceTraversalNodeBase< NarrowPhaseSolver::S >::request
DistanceRequest< NarrowPhaseSolver::S > request
request setting for distance
Definition: distance_traversal_node_base.h:73
fcl::detail::TraversalNodeBase< NarrowPhaseSolver::S >::tf1
Transform3< NarrowPhaseSolver::S > tf1
configuation of first object
Definition: traversal_node_base.h:85
fcl::detail::DistanceTraversalNodeBase< NarrowPhaseSolver::S >::result
DistanceResult< NarrowPhaseSolver::S > * result
distance result kept during the traversal iteration
Definition: distance_traversal_node_base.h:76
fcl::detail::OcTreeDistanceTraversalNode::model1
const OcTree< S > * model1
Definition: octree_distance_traversal_node.h:71
fcl::detail::OcTreeDistanceTraversalNode::leafTesting
void leafTesting(int, int) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: octree_distance_traversal_node-inl.h:72
fcl::DistanceResult
distance result
Definition: distance_request.h:48
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::OcTreeDistanceTraversalNode
Traversal node for octree distance.
Definition: octree_distance_traversal_node.h:58
fcl::detail::OcTreeDistanceTraversalNode::model2
const OcTree< S > * model2
Definition: octree_distance_traversal_node.h:72
fcl::detail::TraversalNodeBase< NarrowPhaseSolver::S >::tf2
Transform3< NarrowPhaseSolver::S > tf2
configuration of second object
Definition: traversal_node_base.h:88
fcl::detail::OcTreeDistanceTraversalNode::OcTreeDistanceTraversalNode
OcTreeDistanceTraversalNode()
Definition: octree_distance_traversal_node-inl.h:52
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::detail::OcTreeDistanceTraversalNode::BVTesting
S BVTesting(int, int) const
BV test between b1 and b2.
Definition: octree_distance_traversal_node-inl.h:64


fcl
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autogenerated on Tue Dec 5 2023 03:40:48