Template Struct BVNode

Defined in File BV_node.h

Inheritance Relationships

Base Type

public hpp::fcl::BVNodeBase (Struct BVNodeBase)

Struct Documentation

template<typename BV> struct BVNode : public hpp::fcl::BVNodeBase 

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.

Public Types

typedef BVNodeBase Base

Public Functions

inline bool operator==(const BVNode &other) const: Equality operator.

inline bool operator!=(const BVNode &other) const: Difference operator.

inline bool overlap(const BVNode &other) const: Check whether two BVNode collide.

inline bool overlap(const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const: Check whether two BVNode collide.

inline FCL_REAL distance(const BVNode &other, Vec3f *P1 = NULL, Vec3f *P2 = NULL) const: Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

inline Vec3f getCenter() const: Access to the center of the BV.

inline const Matrix3f &getOrientation() const: Access to the orientation of the BV.

inline const Matrix3f &getOrientation() const

inline const Matrix3f &getOrientation() const

inline const Matrix3f &getOrientation() const

Public Members

BV bv: bounding volume storing the geometry