shape_octree_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_SHAPEOCTREECOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_OCTREE_SHAPEOCTREECOLLISIONTRAVERSALNODE_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 
50 
51 namespace fcl
52 {
53 
54 namespace detail
55 {
56 
58 template <typename Shape, typename NarrowPhaseSolver>
60  : public CollisionTraversalNodeBase<typename Shape::S>
61 {
62 public:
63 
64  using S = typename Shape::S;
65 
67 
68  bool BVTesting(int, int) const;
69 
70  void leafTesting(int, int) const;
71 
72  const Shape* model1;
73  const OcTree<S>* model2;
74 
77 
79 
80  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 };
82 
85 template <typename Shape, typename NarrowPhaseSolver>
86 bool initialize(
88  const Shape& model1,
90  const OcTree<typename Shape::S>& model2,
92  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
95 
96 } // namespace detail
97 } // namespace fcl
98 
100 
101 #endif
shape_octree_collision_traversal_node-inl.h
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::ShapeOcTreeCollisionTraversalNode::tf1
Transform3< S > tf1
Definition: shape_octree_collision_traversal_node.h:75
fcl::detail::ShapeOcTreeCollisionTraversalNode::tf2
Transform3< S > tf2
Definition: shape_octree_collision_traversal_node.h:76
octree_solver.h
BVH_model.h
fcl::CollisionResult
collision result
Definition: collision_request.h:48
fcl::detail::ShapeOcTreeCollisionTraversalNode::otsolver
const OcTreeSolver< NarrowPhaseSolver > * otsolver
Definition: shape_octree_collision_traversal_node.h:78
fcl::detail::ShapeOcTreeCollisionTraversalNode::model2
const OcTree< S > * model2
Definition: shape_octree_collision_traversal_node.h:73
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
collision_traversal_node_base.h
fcl::detail::ShapeOcTreeCollisionTraversalNode::S
typename Shape::S S
Definition: shape_octree_collision_traversal_node.h:64
octree.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::detail::ShapeOcTreeCollisionTraversalNode::model1
const Shape * model1
Definition: shape_octree_collision_traversal_node.h:72
fcl::detail::ShapeOcTreeCollisionTraversalNode
Traversal node for shape-octree collision.
Definition: shape_octree_collision_traversal_node.h:59


fcl
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autogenerated on Thu Mar 23 2023 02:38:06