Template Struct HFNode

Defined in File hfield.h

Inheritance Relationships

Base Type

public hpp::fcl::HFNodeBase (Struct HFNodeBase)

Struct Documentation

template<typename BV> struct HFNode : public hpp::fcl::HFNodeBase 

Public Types

typedef HFNodeBase Base

Public Functions

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

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

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

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

inline FCL_REAL distance(const HFNode &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 virtual ~HFNode()

Public Members

BV bv: bounding volume storing the geometry