hpp-fcl: include/hpp/fcl/BVH/BVH_utility.h Source File

hpp-fcl 1.7.5 HPP fork of FCL -- The Flexible Collision Library

BVH_utility.h
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35
39 #ifndef HPP_FCL_BVH_UTILITY_H
40 #define HPP_FCL_BVH_UTILITY_H
41
42 #include <hpp/fcl/BVH/BVH_model.h>
43
44 namespace hpp
45 {
46 namespace fcl
47 {
50 template<typename BV>
51 HPP_FCL_DLLAPI
52 BVHModel<BV>* BVHExtract(const BVHModel<BV>& model, const Transform3f& pose, const AABB& aabb);
53
54 template<>
55 HPP_FCL_DLLAPI
56 BVHModel<OBB >* BVHExtract(const BVHModel<OBB >& model, const Transform3f& pose, const AABB& aabb);
57 template<>
58 HPP_FCL_DLLAPI
59 BVHModel<AABB >* BVHExtract(const BVHModel<AABB >& model, const Transform3f& pose, const AABB& aabb);
60 template<>
61 HPP_FCL_DLLAPI
62 BVHModel<RSS >* BVHExtract(const BVHModel<RSS >& model, const Transform3f& pose, const AABB& aabb);
63 template<>
64 HPP_FCL_DLLAPI
65 BVHModel<kIOS >* BVHExtract(const BVHModel<kIOS >& model, const Transform3f& pose, const AABB& aabb);
66 template<>
67 HPP_FCL_DLLAPI
68 BVHModel<OBBRSS >* BVHExtract(const BVHModel<OBBRSS >& model, const Transform3f& pose, const AABB& aabb);
69 template<>
70 HPP_FCL_DLLAPI
71 BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model, const Transform3f& pose, const AABB& aabb);
72 template<>
73 HPP_FCL_DLLAPI
74 BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model, const Transform3f& pose, const AABB& aabb);
75 template<>
76 HPP_FCL_DLLAPI
77 BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model, const Transform3f& pose, const AABB& aabb);
78
80 HPP_FCL_DLLAPI void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& M);
81
83 HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
84
86 HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& axes, Vec3f& center, Vec3f& extent);
87
89 HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec3f& center, FCL_REAL& radius);
90
92 HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Vec3f& query);
93
94 }
95
96 } // namespace hpp
97
98 #endif
BVH_model.h
hpp::fcl::AABB
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:56
hpp::fcl::BVHModel
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:278
hpp::fcl::KDOP
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:90
hpp::fcl::Transform3f
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
hpp::fcl::Triangle
Triangle with 3 indices for points.
Definition: data_types.h:75
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::maximumDistance
FCL_REAL maximumDistance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, const Vec3f &query)
Compute the maximum distance from a given center point to a point cloud.
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::BVHExtract
BVHModel< BV > * BVHExtract(const BVHModel< BV > &model, const Transform3f &pose, const AABB &aabb)
Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is con...
hpp::fcl::getExtentAndCenter
void getExtentAndCenter(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
hpp::fcl::circumCircleComputation
void circumCircleComputation(const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
Compute the center and radius for a triangle's circumcircle.
hpp::fcl::getRadiusAndOriginAndRectangleSize
void getRadiusAndOriginAndRectangleSize(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
Compute the RSS bounding volume parameters: radius, rectangle size and the origin,...
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp::fcl::getCovariance
void getCovariance(Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &M)
Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to poin...
hpp
Main namespace.
Definition: AABB.h:44