Commit bde445ca authored by Lucile Remigy's avatar Lucile Remigy
Browse files

Doxygen, private element

parent 0594e6db
......@@ -47,7 +47,10 @@ namespace hpp
namespace fcl
{
/// @brief Node structure encoding the information required for traversal.
/// @internal TraversalNodeBase, private class.
class TraversalNodeBase
{
public:
......@@ -88,7 +91,9 @@ public:
Transform3f tf2;
};
/// @brief Node structure encoding the information required for collision traversal.
/// @internal CollisionTraversalNodeBase, private class.
class CollisionTraversalNodeBase : public TraversalNodeBase
{
public:
......@@ -129,6 +134,7 @@ public:
};
/// @brief Node structure encoding the information required for distance traversal.
/// @internal DistanceTraversalNodeBase, private class.
class DistanceTraversalNodeBase : public TraversalNodeBase
{
public:
......
......@@ -53,6 +53,7 @@ namespace fcl
{
/// @brief Traversal node for collision between BVH and shape
/// @internal BVHShapeCollisionTraversalNode, private class.
template<typename BV, typename S>
class BVHShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
......@@ -96,6 +97,7 @@ public:
};
/// @brief Traversal node for collision between shape and BVH
/// @internal ShapeBVHCollisionTraversalNode, private class.
template<typename S, typename BV>
class ShapeBVHCollisionTraversalNode : public CollisionTraversalNodeBase
{
......@@ -146,6 +148,7 @@ public:
/// @brief Traversal node for collision between mesh and shape
/// @internal MeshShapeCollisionTraversalNode, private class.
template<typename BV, typename S,
int _Options = RelativeTransformationIsIdentity>
class MeshShapeCollisionTraversalNode : public BVHShapeCollisionTraversalNode<BV, S>
......@@ -260,6 +263,7 @@ public:
};
/// @brief Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
/// @internal MeshShapeCollisionTraversalNodeOBB/RSS/kIOS/OBBRSS, private class.
template<typename S>
class MeshShapeCollisionTraversalNodeOBB : public MeshShapeCollisionTraversalNode<OBB, S, 0>
{
......@@ -307,6 +311,7 @@ public:
/// @brief Traversal node for collision between shape and mesh
/// @internalShapeMeshCollisionTraversalNode, private class.
template<typename S, typename BV,
int _Options = RelativeTransformationIsIdentity>
class ShapeMeshCollisionTraversalNode : public ShapeBVHCollisionTraversalNode<S, BV>
......@@ -420,6 +425,7 @@ public:
};
/// @brief Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
/// @internal ShapeMeshCollisionTraversalNodeOBB/RSS/kIOS/OBBRSS, private class.
template<typename S>
class ShapeMeshCollisionTraversalNodeOBB : public ShapeMeshCollisionTraversalNode<S, OBB, 0>
{
......@@ -460,6 +466,7 @@ public:
};
/// @brief Traversal node for distance computation between BVH and shape
/// @internal BVHShapeDistanceTraversalNode, private class.
template<typename BV, typename S>
class BVHShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
......@@ -508,6 +515,7 @@ public:
};
/// @brief Traversal node for distance computation between shape and BVH
/// @internal ShapeBVHShapeDistanceTraversalNode, private class.
template<typename S, typename BV>
class ShapeBVHDistanceTraversalNode : public DistanceTraversalNodeBase
{
......@@ -557,6 +565,7 @@ public:
/// @brief Traversal node for distance between mesh and shape
/// @internal MeshShapeDistanceTraversalNode, private class.
template<typename BV, typename S>
class MeshShapeDistanceTraversalNode : public BVHShapeDistanceTraversalNode<BV, S>
{
......@@ -681,7 +690,8 @@ static inline void distancePreprocessOrientedNode(const BVHModel<BV>* model1,
/// @brief Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS)
/// @brief Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, kIOS, OBBRSS)
/// @internal MeshShapeDistanceTraversalNodeRSS/kIOS/OBBRSS, private class.
template<typename S>
class MeshShapeDistanceTraversalNodeRSS : public MeshShapeDistanceTraversalNode<RSS, S>
{
......@@ -780,6 +790,7 @@ public:
};
/// @brief Traversal node for distance between shape and mesh
/// @internal ShapeMeshDistanceTraversalNode, private class.
template<typename S, typename BV>
class ShapeMeshDistanceTraversalNode : public ShapeBVHDistanceTraversalNode<S, BV>
{
......@@ -838,6 +849,8 @@ public:
const GJKSolver* nsolver;
};
/// @brief Traversal node for distance between shape and mesh, when mesh BVH is one of the oriented node (RSS, kIOS, OBBRSS)
/// @internal ShapeMeshDistanceTraversalNodeRSS/kIOS/OBBRSS, private class.
template<typename S>
class ShapeMeshDistanceTraversalNodeRSS : public ShapeMeshDistanceTraversalNode<S, RSS>
{
......
......@@ -61,6 +61,7 @@ namespace hpp
namespace fcl
{
/// @brief Traversal node for collision between BVH models
/// @internal BVHCollisionTraversalNode, private class.
template<typename BV>
class BVHCollisionTraversalNode : public CollisionTraversalNodeBase
{
......@@ -138,6 +139,7 @@ public:
};
/// @brief Traversal node for collision between two meshes
/// @internal MeshCollisionTraversalNode, private class.
template<typename BV, int _Options = RelativeTransformationIsIdentity>
class MeshCollisionTraversalNode : public BVHCollisionTraversalNode<BV>
{
......@@ -172,7 +174,7 @@ public:
/// \retval sqrDistLowerBound square of a lower bound of the minimal
/// distance between bounding volumes.
bool BVDisjoints(int b1, int b2, FCL_REAL& sqrDistLowerBound) const
{
{/// @internal MeshCollisionTraversalNode, private class.
if(this->enable_statistics) this->num_bv_tests++;
if (RTIsIdentity)
return !this->model1->getBV(b1).overlap(this->model2->getBV(b2),
......@@ -264,6 +266,7 @@ public:
};
/// @brief Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS)
/// @internal MeshCollisionTraversalNode (OBB, RSS, OBBRSS, kIOS), private class.
typedef MeshCollisionTraversalNode<OBB , 0> MeshCollisionTraversalNodeOBB ;
typedef MeshCollisionTraversalNode<RSS , 0> MeshCollisionTraversalNodeRSS ;
typedef MeshCollisionTraversalNode<kIOS , 0> MeshCollisionTraversalNodekIOS ;
......@@ -296,6 +299,7 @@ namespace details
} // namespace details
/// @brief Traversal node for distance computation between BVH models
/// @internal BVHDistanceTraversalNode, private class.
template<typename BV>
class BVHDistanceTraversalNode : public DistanceTraversalNodeBase
{
......@@ -381,6 +385,7 @@ public:
/// @brief Traversal node for distance computation between two meshes
/// @internal MeshDistanceTraversalNode, private class.
template<typename BV>
class MeshDistanceTraversalNode : public BVHDistanceTraversalNode<BV>
{
......@@ -448,6 +453,7 @@ public:
};
/// @brief Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS)
/// @internal MeshDistanceTraversalNodeRSS/kIOS/OBBRSS, private class.
class MeshDistanceTraversalNodeRSS : public MeshDistanceTraversalNode<RSS>
{
public:
......
......@@ -51,6 +51,7 @@ namespace fcl
{
/// @brief Algorithms for collision related with octree
/// @internal OcTreeSolver, private class.
class OcTreeSolver
{
private:
......@@ -889,6 +890,7 @@ private:
/// @brief Traversal node for octree collision
/// @internal OcTreeCollisionTraversalNode, private class.
class OcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
......@@ -925,6 +927,7 @@ public:
};
/// @brief Traversal node for octree distance
/// @internal OcTreeDistanceTraversalNode, private class.
class OcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
......@@ -959,6 +962,7 @@ public:
};
/// @brief Traversal node for shape-octree collision
/// @internal ShapeOcTreeCollisionTraversalNode, private class.
template<typename S>
class ShapeOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
......@@ -996,6 +1000,7 @@ public:
};
/// @brief Traversal node for octree-shape collision
/// @internal OcTreeShapeCollisionTraversalNode, private class.
template<typename S>
class OcTreeShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
......@@ -1033,6 +1038,7 @@ public:
};
/// @brief Traversal node for shape-octree distance
/// @internal ShapeOcTreeCollisionTraversalNode, private class.
template<typename S>
class ShapeOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
......@@ -1062,6 +1068,7 @@ public:
};
/// @brief Traversal node for octree-shape distance
/// @internal OcTreeShapeDistanceTraversalNode, private class.
template<typename S>
class OcTreeShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
......@@ -1091,6 +1098,7 @@ public:
};
/// @brief Traversal node for mesh-octree collision
/// @internal MeshOcTreeCollisionTraversalNode, private class.
template<typename BV>
class MeshOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
......@@ -1128,6 +1136,7 @@ public:
};
/// @brief Traversal node for octree-mesh collision
/// @internal OcTreeMeshCollisionTraversalNode, private class.
template<typename BV>
class OcTreeMeshCollisionTraversalNode : public CollisionTraversalNodeBase
{
......@@ -1165,6 +1174,7 @@ public:
};
/// @brief Traversal node for mesh-octree distance
/// @internal MeshOcTreeDistanceTraversalNode, private class.
template<typename BV>
class MeshOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
......@@ -1195,6 +1205,7 @@ public:
};
/// @brief Traversal node for octree-mesh distance
/// @internal OcTreeMeshDistanceTraversalNode, private class.
template<typename BV>
class OcTreeMeshDistanceTraversalNode : public DistanceTraversalNodeBase
{
......
......@@ -89,6 +89,7 @@ void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2,
collisionRecurse(node, b1, c2, front_list, sqrDistLowerBound2);
sqrDistLowerBound = std::min (sqrDistLowerBound1, sqrDistLowerBound2);
}
return;
}
void collisionNonRecurse(CollisionTraversalNodeBase* node,
......
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