From 1de02abd5a59e769335ee4d43cd4b18bccbe8e1c Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 7 Dec 2018 13:54:06 +0100
Subject: [PATCH] [doc] Rename and update collision graph.

---
 doc/collision-call.dot           |  36 -----------------------------
 doc/collision-call.pdf           | Bin 22993 -> 0 bytes
 doc/mesh-mesh-collision-call.dot |  38 +++++++++++++++++++++++++++++++
 doc/mesh-mesh-collision-call.pdf | Bin 0 -> 24297 bytes
 4 files changed, 38 insertions(+), 36 deletions(-)
 delete mode 100644 doc/collision-call.dot
 delete mode 100644 doc/collision-call.pdf
 create mode 100644 doc/mesh-mesh-collision-call.dot
 create mode 100644 doc/mesh-mesh-collision-call.pdf

diff --git a/doc/collision-call.dot b/doc/collision-call.dot
deleted file mode 100644
index 9073c821..00000000
--- a/doc/collision-call.dot
+++ /dev/null
@@ -1,36 +0,0 @@
-digraph CD  {
-
-	rankdir = BT
-	compound=true
-        size = 11.7
-
-        "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
-        "bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
-        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" [shape = box]
-        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" [shape = box]
-        "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
-        "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
-        "bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
-        "void collide(CollisionTraversalNodeBase* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)" [shape = box]
-        "void collisionRecurse(CollisionTraversalNodeBase* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" [shape = box]
-        "void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" [shape = box]
-        "bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
-        "CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
-        "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)" [shape = box]
-
-        "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)"
-        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)"
-        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)"
-        "void collide(CollisionTraversalNodeBase* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)"-> "void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)"
-        "void collide(CollisionTraversalNodeBase* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)"
-        "void collisionRecurse(CollisionTraversalNodeBase* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" -> "bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result"
-        "void collisionRecurse(CollisionTraversalNodeBase* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" -> "CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result"
-        "void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)"
-        "void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result"
-"bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)"
-      "bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [color=red]
-      "bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [color = red]
-      "bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
-      "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
-      "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
-}
\ No newline at end of file
diff --git a/doc/collision-call.pdf b/doc/collision-call.pdf
deleted file mode 100644
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diff --git a/doc/mesh-mesh-collision-call.dot b/doc/mesh-mesh-collision-call.dot
new file mode 100644
index 00000000..55c45548
--- /dev/null
+++ b/doc/mesh-mesh-collision-call.dot
@@ -0,0 +1,38 @@
+digraph CD  {
+
+	rankdir = BT
+	compound=true
+        size = 11.7
+
+        "std::size_t BVHCollide(const CollisionGeometry* o1,\nconst Transform3f& tf1, const CollisionGeometry* o2,\nconst Transform3f& tf2, const CollisionRequest& request,\nCollisionResult& result)" [shape = box]
+        "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
+        "bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" [shape = box]
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" [shape = box]
+        "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
+        "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
+        "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
+        "void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)" [shape = box]
+        "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" [shape = box]
+        "void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" [shape = box]
+        "bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
+        "MeshCollisionTraversalNode<T_BVH>::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [shape = box]
+        "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)" [shape = box]
+
+         "std::size_t BVHCollide(const CollisionGeometry* o1,\nconst Transform3f& tf1, const CollisionGeometry* o2,\nconst Transform3f& tf2, const CollisionRequest& request,\nCollisionResult& result)" -> "void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)"
+        "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)"
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)"
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)"
+        "void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)"-> "void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)"
+        "void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)" -> "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)"
+        "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" -> "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result"
+        "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" -> "MeshCollisionTraversalNode<T_BVH>::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result"
+        "void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)"
+        "void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result"
+"bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)"
+      "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [color=red]
+      "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" [color = red]
+      "bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
+      "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
+      "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n  -request\n  - result" -> "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
+}
\ No newline at end of file
diff --git a/doc/mesh-mesh-collision-call.pdf b/doc/mesh-mesh-collision-call.pdf
new file mode 100644
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-- 
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