TriTriToleranceIntersect< T > Class Template Reference

tests if two swept sphere triangles are intersecting. This corresponds to testing if two triangles are within a certain distqance (tolerance) of each other More...

#include <TriTriToleranceIntersect.hpp>

Inherits BVCollider< TriTriToleranceIntersect< double >, rw::geometry::Triangle< double > >.

Public Types
typedef T	value_type
	Type for internal values.
Public Types inherited from BVCollider< TriTriToleranceIntersect< double >, rw::geometry::Triangle< double > >
typedef rw::geometry::Triangle< double >	BVType
typedef BVTYPE::value_type	value_type

Public Member Functions
void	setTolerance (T tolerance)
	set the tolerance of the collider More...
bool	collides (const rw::geometry::Triangle< T > &a, const rw::geometry::Triangle< T > &b, const rw::math::Transform3D< T > &aTb)
	test if obbA is closer than tolerance to obbB. The aTb transform describe obbB relative to obbA's coordinate frame. This method is approximate and the obb's may lie up to sqrt(tolerance^2+tolerance^2) away from each other.
bool	collides (const rw::geometry::Triangle< T > &a, const rw::geometry::Triangle< T > &b, const rw::math::Transform3D< T > &aTb, double tolerance)
	test if obbA is closer than tolerance to obbB. The aTb transform describe obbB relative to obbA's coordinate frame. This method is approximate and the obb's may lie up to sqrt(tolerance^2+tolerance^2) away from each other.
Public Member Functions inherited from BVCollider< TriTriToleranceIntersect< double >, rw::geometry::Triangle< double > >
	BVCollider ()
	constructor
virtual	~BVCollider ()
	destructor
bool	inCollision (const rw::geometry::Triangle< double > &bvA, const rw::geometry::Triangle< double > &bvB, const rw::math::Transform3D< value_type > &aTb)
	test if two bounding volumes are colliding More...

Detailed Description

template<class T = double>
class rw::geometry::TriTriToleranceIntersect< T >

tests if two swept sphere triangles are intersecting. This corresponds to testing if two triangles are within a certain distqance (tolerance) of each other

Member Function Documentation

setTolerance()

void setTolerance ( T  tolerance )

inline

set the tolerance of the collider

Parameters

tolerance

[in] meters

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The documentation for this class was generated from the following file:

• TriTriToleranceIntersect.hpp