Struct HFNodeBase

Defined in File hfield.h

Inheritance Relationships

Derived Type

public hpp::fcl::HFNode< BV > (Template Struct HFNode)

Struct Documentation

struct HFNodeBase

Subclassed by hpp::fcl::HFNode< BV >

Public Functions

inline HFNodeBase(): Default constructor.

inline bool operator==(const HFNodeBase &other) const: Comparison operator.

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

inline bool isLeaf() const: Whether current node is a leaf node (i.e. contains a primitive index)

inline size_t leftChild() const: Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

inline size_t rightChild() const: Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

inline Eigen::Vector2i leftChildIndexes() const

inline Eigen::Vector2i rightChildIndexes() const

Public Members

size_t first_child: An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.

Eigen::DenseIndex x_id

Eigen::DenseIndex x_size

Eigen::DenseIndex y_id

Eigen::DenseIndex y_size

FCL_REAL max_height