collision_node.h 2.85 KB
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/*
 * Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *   * Neither the name of Open Source Robotics Foundation nor the names of its
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

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#ifndef HPP_FCL_COLLISION_NODE_H
#define HPP_FCL_COLLISION_NODE_H
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/// @cond INTERNAL

#include <hpp/fcl/BVH/BVH_front.h>
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#include "traversal/traversal_node_base.h"
#include "traversal/traversal_node_bvhs.h"
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/// @brief collision and distance function on traversal nodes. these functions provide a higher level abstraction for collision functions provided in collision_func_matrix
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namespace hpp
{
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namespace fcl
{

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/// collision on collision traversal node
/// 
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/// @param node node containing both objects to test,
/// @retval squared lower bound to the distance between the objects if they
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///         do not collide.
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/// @param front_list list of nodes visited by the query, can be used to
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///        accelerate computation
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void collide(CollisionTraversalNodeBase* node, const CollisionRequest& request,
             CollisionResult& result, BVHFrontList* front_list = NULL,
             bool recursive = true);
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/// @brief distance computation on distance traversal node; can use front list to accelerate
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void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list = NULL, int qsize = 2);
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}

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} // namespace hpp

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/// @endcond

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#endif