/usr/include/fcl/traversal/traversal_node_base.h is in libfcl-dev 0.5.0-5.
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* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
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/** \author Jia Pan */
#ifndef FCL_TRAVERSAL_NODE_BASE_H
#define FCL_TRAVERSAL_NODE_BASE_H
#include "fcl/data_types.h"
#include "fcl/math/transform.h"
#include "fcl/collision_data.h"
namespace fcl
{
/// @brief Node structure encoding the information required for traversal.
class TraversalNodeBase
{
public:
virtual ~TraversalNodeBase();
virtual void preprocess() {}
virtual void postprocess() {}
/// @brief Whether b is a leaf node in the first BVH tree
virtual bool isFirstNodeLeaf(int b) const;
/// @brief Whether b is a leaf node in the second BVH tree
virtual bool isSecondNodeLeaf(int b) const;
/// @brief Traverse the subtree of the node in the first tree first
virtual bool firstOverSecond(int b1, int b2) const;
/// @brief Get the left child of the node b in the first tree
virtual int getFirstLeftChild(int b) const;
/// @brief Get the right child of the node b in the first tree
virtual int getFirstRightChild(int b) const;
/// @brief Get the left child of the node b in the second tree
virtual int getSecondLeftChild(int b) const;
/// @brief Get the right child of the node b in the second tree
virtual int getSecondRightChild(int b) const;
/// @brief Enable statistics (verbose mode)
virtual void enableStatistics(bool enable) = 0;
/// @brief configuation of first object
Transform3f tf1;
/// @brief configuration of second object
Transform3f tf2;
};
/// @brief Node structure encoding the information required for collision traversal.
class CollisionTraversalNodeBase : public TraversalNodeBase
{
public:
CollisionTraversalNodeBase() : result(NULL), enable_statistics(false) {}
virtual ~CollisionTraversalNodeBase();
/// @brief BV test between b1 and b2
virtual bool BVTesting(int b1, int b2) const;
/// @brief Leaf test between node b1 and b2, if they are both leafs
virtual void leafTesting(int b1, int b2) const;
/// @brief Check whether the traversal can stop
virtual bool canStop() const;
/// @brief Whether store some statistics information during traversal
void enableStatistics(bool enable) { enable_statistics = enable; }
/// @brief request setting for collision
CollisionRequest request;
/// @brief collision result kept during the traversal iteration
CollisionResult* result;
/// @brief Whether stores statistics
bool enable_statistics;
};
/// @brief Node structure encoding the information required for distance traversal.
class DistanceTraversalNodeBase : public TraversalNodeBase
{
public:
DistanceTraversalNodeBase() : result(NULL), enable_statistics(false) {}
virtual ~DistanceTraversalNodeBase();
/// @brief BV test between b1 and b2
virtual FCL_REAL BVTesting(int b1, int b2) const;
/// @brief Leaf test between node b1 and b2, if they are both leafs
virtual void leafTesting(int b1, int b2) const;
/// @brief Check whether the traversal can stop
virtual bool canStop(FCL_REAL c) const;
/// @brief Whether store some statistics information during traversal
void enableStatistics(bool enable) { enable_statistics = enable; }
/// @brief request setting for distance
DistanceRequest request;
/// @brief distance result kept during the traversal iteration
DistanceResult* result;
/// @brief Whether stores statistics
bool enable_statistics;
};
struct ConservativeAdvancementStackData
{
ConservativeAdvancementStackData(const Vec3f& P1_, const Vec3f& P2_, int c1_, int c2_, FCL_REAL d_)
: P1(P1_), P2(P2_), c1(c1_), c2(c2_), d(d_) {}
Vec3f P1;
Vec3f P2;
int c1;
int c2;
FCL_REAL d;
};
}
#endif
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