traversal_node_base.h
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35 
38 #ifndef FCL_TRAVERSAL_TRAVERSALNODEBASE_H
39 #define FCL_TRAVERSAL_TRAVERSALNODEBASE_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
50 template <typename S>
51 class FCL_EXPORT TraversalNodeBase
52 {
53 public:
54  virtual ~TraversalNodeBase();
55 
56  virtual void preprocess();
57 
58  virtual void postprocess();
59 
61  virtual bool isFirstNodeLeaf(int b) const;
62 
64  virtual bool isSecondNodeLeaf(int b) const;
65 
67  virtual bool firstOverSecond(int b1, int b2) const;
68 
70  virtual int getFirstLeftChild(int b) const;
71 
73  virtual int getFirstRightChild(int b) const;
74 
76  virtual int getSecondLeftChild(int b) const;
77 
79  virtual int getSecondRightChild(int b) const;
80 
82  virtual void enableStatistics(bool enable) = 0;
83 
86 
89 
90  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
91 };
92 
93 } // namespace detail
94 } // namespace fcl
95 
97 
98 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
types.h
fcl::detail::TraversalNodeBase::tf1
Transform3< S > tf1
configuation of first object
Definition: traversal_node_base.h:85
fcl::detail::TraversalNodeBase
Node structure encoding the information required for traversal.
Definition: traversal_node_base.h:51
traversal_node_base-inl.h
fcl::detail::TraversalNodeBase::tf2
Transform3< S > tf2
configuration of second object
Definition: traversal_node_base.h:88
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Thu Mar 23 2023 02:38:07