this class encapsulates the methods for iterating through two hierachical OBV trees while testing if the OBV's are disjoint by more than a specified tolerance. More...

#include <BVTreeToleranceCollider.hpp>

Public Types
typedef rw::core::Ptr< BVTreeToleranceCollider< BVTREE > >	Ptr
	smart pointer for this class

Public Member Functions
virtual	~BVTreeToleranceCollider ()
	destructor

virtual bool	collides (const rw::math::Transform3D< typename BVTREE::value_type > &fTA, const BVTREE &treeA, const rw::math::Transform3D< typename BVTREE::value_type > &fTB, const BVTREE &treeB, double tolerance, std::vector< std::pair< int, int >> *collidingPrimitives=NULL)=0
	tests if two BV trees are colliding. More...

virtual void	setQueryType (rw::proximity::CollisionStrategy::QueryType type)
	set the query type

virtual rw::proximity::CollisionStrategy::QueryType	getQueryType ()
	get the collision query type

virtual int	getMemUsage ()=0
	type of the primitive in collision callb ack function More...

virtual int	getNrOfTestedBVs ()

virtual int	getNrOfCollidingBVs ()

virtual int	getNrOfTestedPrimitives ()

virtual int	getNrOfCollidingPrimitives ()

Protected Attributes
rw::proximity::CollisionStrategy::QueryType	_queryType
	creates a tree collider that performes depth first search of bv collisions between two hierarchical trees. The search is performed using a synchronous descent strategy which means that the traversal descents both trees at the same time. More...

Detailed Description

template<class BVTREE>
class rw::proximity::BVTreeToleranceCollider< BVTREE >

this class encapsulates the methods for iterating through two hierachical OBV trees while testing if the OBV's are disjoint by more than a specified tolerance.

Note: The TreeCollider is statefull and should therefore NOT be used by multiple threads. The state is small so there is only little to no overhead cloning the TreeCollider.

Member Function Documentation

◆ collides()

virtual bool collides	(	const rw::math::Transform3D< typename BVTREE::value_type > &	fTA,
		const BVTREE &	treeA,
		const rw::math::Transform3D< typename BVTREE::value_type > &	fTB,
		const BVTREE &	treeB,
		double	tolerance,
		std::vector< std::pair< int, int >> *	collidingPrimitives = `NULL`
	)

pure virtual

tests if two BV trees are colliding.

Parameters

fTA	[in] transform from reference frame f to tree treeA root.
treeA	[in]
fTB	[in] transform from reference frame f to tree treeB root.
treeB	[in]
tolerance	documentation missing !
collidingPrimitives	documentation missing !

◆ getMemUsage()

virtual int getMemUsage ( )

pure virtual

type of the primitive in collision callb ack function

returns the amount of heap memmory used by the tree collider.

Returns: nr of bytes used

Member Data Documentation

◆ _queryType

rw::proximity::CollisionStrategy::QueryType _queryType

protected

creates a tree collider that performes depth first search of bv collisions between two hierarchical trees. The search is performed using a synchronous descent strategy which means that the traversal descents both trees at the same time.

Parameters

weight

Returns

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

BVTreeToleranceCollider.hpp

Public Types

Public Member Functions

Protected Attributes