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Guilhem Saurel
hpp-fcl
Commits
b7ce8b11
Commit
b7ce8b11
authored
Jun 15, 2016
by
Javier V. Gomez
Committed by
Florent Lamiraux florent@laas.fr
Nov 15, 2017
Browse files
Remove unecessary inlines, const correctess, and fix indentation
parent
f7e3f831
Changes
1
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Inline
Side-by-side
include/hpp/fcl/octree.h
View file @
b7ce8b11
...
...
@@ -94,7 +94,7 @@ public:
}
/// @brief get the bounding volume for the root
inline
AABB
getRootBV
()
const
AABB
getRootBV
()
const
{
FCL_REAL
delta
=
(
1
<<
tree
->
getTreeDepth
())
*
tree
->
getResolution
()
/
2
;
...
...
@@ -103,34 +103,34 @@ public:
}
/// @brief get the root node of the octree
inline
OcTreeNode
*
getRoot
()
const
OcTreeNode
*
getRoot
()
const
{
return
tree
->
getRoot
();
}
/// @brief whether one node is completely occupied
inline
bool
isNodeOccupied
(
const
OcTreeNode
*
node
)
const
bool
isNodeOccupied
(
const
OcTreeNode
*
node
)
const
{
// return tree->isNodeOccupied(node);
return
node
->
getOccupancy
()
>=
occupancy_threshold
;
}
/// @brief whether one node is completely free
inline
bool
isNodeFree
(
const
OcTreeNode
*
node
)
const
bool
isNodeFree
(
const
OcTreeNode
*
node
)
const
{
// return false; // default no definitely free node
return
node
->
getOccupancy
()
<=
free_threshold
;
}
/// @brief whether one node is uncertain
inline
bool
isNodeUncertain
(
const
OcTreeNode
*
node
)
const
bool
isNodeUncertain
(
const
OcTreeNode
*
node
)
const
{
return
(
!
isNodeOccupied
(
node
))
&&
(
!
isNodeFree
(
node
));
}
/// @brief transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we
/// only keep the occupied boxes (i.e., the boxes whose occupied probability is higher enough).
inline
std
::
vector
<
boost
::
array
<
FCL_REAL
,
6
>
>
toBoxes
()
const
std
::
vector
<
boost
::
array
<
FCL_REAL
,
6
>
>
toBoxes
()
const
{
std
::
vector
<
boost
::
array
<
FCL_REAL
,
6
>
>
boxes
;
boxes
.
reserve
(
tree
->
size
()
/
2
);
...
...
@@ -188,29 +188,29 @@ public:
}
/// @return ptr to child number childIdx of node
inline
OcTreeNode
*
getNodeChild
(
OcTreeNode
*
node
,
unsigned
int
childIdx
)
const
OcTreeNode
*
getNodeChild
(
OcTreeNode
*
node
,
unsigned
int
childIdx
)
{
return
tree
->
getNodeChild
(
node
,
childIdx
);
}
/// @return const ptr to child number childIdx of node
inline
const
OcTreeNode
*
getNodeChild
(
const
OcTreeNode
*
node
,
unsigned
int
childIdx
)
const
const
OcTreeNode
*
getNodeChild
(
const
OcTreeNode
*
node
,
unsigned
int
childIdx
)
const
{
return
tree
->
getNodeChild
(
node
,
childIdx
);
}
/// @brief return true if the child at childIdx exists
inline
bool
nodeChildExists
(
const
OcTreeNode
*
node
,
unsigned
int
childIdx
)
const
bool
nodeChildExists
(
const
OcTreeNode
*
node
,
unsigned
int
childIdx
)
const
{
return
tree
->
nodeChildExists
(
node
,
childIdx
);
}
/// @brief return true if node has at least one child
inline
bool
nodeHasChildren
(
const
OcTreeNode
*
node
)
const
bool
nodeHasChildren
(
const
OcTreeNode
*
node
)
const
{
return
tree
->
nodeHasChildren
(
node
);
return
tree
->
nodeHasChildren
(
node
);
}
/// @brief return object type, it is an octree
OBJECT_TYPE
getObjectType
()
const
{
return
OT_OCTREE
;
}
...
...
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