more documentation and file reorganize

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@151 253336fb-580f-4252-a368-f3cef5a2a82b

trunk/fcl/CMakeLists.txt

@@ -41,7 +41,7 @@ link_directories(${OCTOMAP_LIBRARY_DIRS})
 
 add_definitions(-DUSE_SVMLIGHT=0)
 
-add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/BV/OBBRSS.cpp src/BV/kDOP.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/transform.cpp src/simple_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broad_phase_collision.cpp src/collision.cpp src/collision_func_matrix.cpp src/interval_tree.cpp src/conservative_advancement.cpp src/ccd/interval.cpp src/ccd/interval_vector.cpp src/ccd/interval_matrix.cpp src/ccd/taylor_model.cpp src/ccd/taylor_vector.cpp src/ccd/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp src/narrowphase/gjk.cpp src/narrowphase/gjk_libccd.cpp src/narrowphase/narrowphase.cpp src/hierarchy_tree.cpp)
+add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/BV/OBBRSS.cpp src/BV/kDOP.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/transform.cpp src/simple_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broadphase/broadphase_bruteforce.cpp src/broadphase/broadphase_spatialhash.cpp src/broadphase/broadphase_SaP.cpp src/broadphase/broadphase_SSaP.cpp src/broadphase/broadphase_interval_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree_array.cpp src/collision.cpp src/collision_func_matrix.cpp src/broadphase/interval_tree.cpp src/conservative_advancement.cpp src/ccd/interval.cpp src/ccd/interval_vector.cpp src/ccd/interval_matrix.cpp src/ccd/taylor_model.cpp src/ccd/taylor_vector.cpp src/ccd/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp src/narrowphase/gjk.cpp src/narrowphase/gjk_libccd.cpp src/narrowphase/narrowphase.cpp src/broadphase/hierarchy_tree.cpp)
 
 
 target_link_libraries(${PROJECT_NAME} ${FLANN_LIBRARIES} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES})

trunk/fcl/include/fcl/BV/OBB.h

@@ -125,6 +125,10 @@ public:
   FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
 };
 
+
+/// @brief Translate the OBB bv
+OBB translate(const OBB& bv, const Vec3f& t);
+
 /// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.
 bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2);
 

trunk/fcl/include/fcl/BV/OBBRSS.h

@@ -143,6 +143,8 @@ public:
   }
 };
 
+/// @brief Translate the OBBRSS bv
+OBBRSS translate(const OBBRSS& bv, const Vec3f& t);
 
 /// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity
 bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2);

trunk/fcl/include/fcl/BV/RSS.h

@@ -130,6 +130,10 @@ public:
 
 };
 
+
+/// @brief Translate the RSS bv
+RSS translate(const RSS& bv, const Vec3f& t);
+
 /// @brief distance between two RSS bounding volumes
 /// P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points
 /// Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)

trunk/fcl/include/fcl/BV/kDOP.h

@@ -128,9 +128,25 @@ private:
   /// @brief Origin's distances to N KDOP planes
   FCL_REAL dist_[N];
 
+public:
+  inline FCL_REAL dist(std::size_t i) const
+  {
+    return dist_[i];
+  }
+
+  inline FCL_REAL& dist(std::size_t i)
+  {
+    return dist_[i];
+  }
+
 
 };
 
+
+/// @brief translate the KDOP BV
+template<size_t N>
+KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t);
+
 }
 
 #endif

trunk/fcl/include/fcl/BV/kIOS.h

@@ -147,6 +147,10 @@ private:
     
 };
 
+
+/// @brief Translate the kIOS BV
+kIOS translate(const kIOS& bv, const Vec3f& t);
+
 /// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.
 /// @todo Not efficient
 bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2);

trunk/fcl/include/fcl/BVH_internal.h

@@ -42,46 +42,41 @@
 namespace fcl
 {
 
-/** \brief States for BVH construction
- * empty->begun->processed ->replace_begun->processed -> ......
- *                         |
- *                         |-> update_begun -> updated -> .....
- * */
-
 /// @brief States for BVH construction
+/// empty->begun->processed ->replace_begun->processed -> ......
+///                        |
+///                        |-> update_begun -> updated -> .....
 enum BVHBuildState
-{
-  BVH_BUILD_STATE_EMPTY,            // empty state, immediately after constructor
-  BVH_BUILD_STATE_BEGUN,            // after beginModel(), state for adding geometry primitives
-  BVH_BUILD_STATE_PROCESSED,        // after tree has been build, ready for cd use
-  BVH_BUILD_STATE_UPDATE_BEGUN,     // after beginUpdateModel(), state for updating geometry primitives
-  BVH_BUILD_STATE_UPDATED,          // after tree has been build for updated geometry, ready for ccd use
-  BVH_BUILD_STATE_REPLACE_BEGUN,    // after beginReplaceModel(), state for replacing geometry primitives
-};
+  {
+    BVH_BUILD_STATE_EMPTY,            /// empty state, immediately after constructor
+    BVH_BUILD_STATE_BEGUN,            /// after beginModel(), state for adding geometry primitives
+    BVH_BUILD_STATE_PROCESSED,        /// after tree has been build, ready for cd use
+    BVH_BUILD_STATE_UPDATE_BEGUN,     /// after beginUpdateModel(), state for updating geometry primitives
+    BVH_BUILD_STATE_UPDATED,          /// after tree has been build for updated geometry, ready for ccd use
+    BVH_BUILD_STATE_REPLACE_BEGUN,    /// after beginReplaceModel(), state for replacing geometry primitives
+  };
 
-/** \brief Error code for BVH */
+/// @brief Error code for BVH 
 enum BVHReturnCode
-{
-  BVH_OK = 0,
-  BVH_ERR_MODEL_OUT_OF_MEMORY = -1,
-  BVH_ERR_OUT_OF_MEMORY = -2,
-  BVH_ERR_UNPROCESSED_MODEL = -3,
-  BVH_ERR_BUILD_OUT_OF_SEQUENCE = -4,
-  BVH_ERR_BUILD_EMPTY_MODEL = -5,
-  BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -6,
-  BVH_ERR_UNSUPPORTED_FUNCTION = -7,
-  BVH_ERR_UNUPDATED_MODEL = -8,
-  BVH_ERR_INCORRECT_DATA = -9,
-  BVH_ERR_UNKNOWN = -10
-};
+  {
+    BVH_OK = 0,                                 /// BVH is valid
+    BVH_ERR_MODEL_OUT_OF_MEMORY = -1,           /// Cannot allocate memory for vertices and triangles
+    BVH_ERR_BUILD_OUT_OF_SEQUENCE = -2,         /// BVH construction does not follow correct sequence
+    BVH_ERR_BUILD_EMPTY_MODEL = -3,             /// BVH geometry is not prepared
+    BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -4,    /// BVH geometry in previous frame is not prepared
+    BVH_ERR_UNSUPPORTED_FUNCTION = -5,          /// BVH funtion is not supported
+    BVH_ERR_UNUPDATED_MODEL = -6,               /// BVH model update failed
+    BVH_ERR_INCORRECT_DATA = -7,                /// BVH data is not valid
+    BVH_ERR_UNKNOWN = -8                        /// Unknown failure
+  };
 
-/** \brief BVH model type */
+/// @brief BVH model type
 enum BVHModelType
-{
-  BVH_MODEL_UNKNOWN,
-  BVH_MODEL_TRIANGLES,
-  BVH_MODEL_POINTCLOUD
-};
+  {
+    BVH_MODEL_UNKNOWN,              /// @brief unknown model type
+    BVH_MODEL_TRIANGLES,            /// @brief triangle model
+    BVH_MODEL_POINTCLOUD            /// @brief point cloud model
+  };
 
 
 }

trunk/fcl/include/fcl/BVH_model.h

@@ -47,33 +47,16 @@
 #include <vector>
 #include <boost/shared_ptr.hpp>
 
-/** \brief Main namespace */
 namespace fcl
 {
 
-/** \brief A class describing the bounding hierarchy of a mesh model */
+/// @brief A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
 template<typename BV>
 class BVHModel : public CollisionGeometry
 {
-private:
-  int num_tris_allocated;
-  int num_vertices_allocated;
-  int num_bvs_allocated;
-  int num_vertex_updated; // for ccd vertex update
-  unsigned int* primitive_indices;
 
 public:
-
-  /** \brief The state of BVH building process */
-  BVHBuildState build_state;
-
-  /** \brief Split rule to split one BV node into two children */
-  boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;
-
-  /** \brief Fitting rule to fit a BV node to a set of geometry primitives */
-  boost::shared_ptr<BVFitterBase<BV> > bv_fitter;
-
-  /** \brief Model type */
+  /// @brief Model type described by the instance
   BVHModelType getModelType() const
   {
     if(num_tris && num_vertices)
@@ -84,32 +67,29 @@ public:
       return BVH_MODEL_UNKNOWN;
   }
 
-  /** \brief Constructing an empty BVH */
-  BVHModel()
+  /// @brief Constructing an empty BVH
+  BVHModel() : vertices(NULL),
+               tri_indices(NULL),
+               prev_vertices(NULL),
+               num_tris(0),
+               num_vertices(0),
+               build_state(BVH_BUILD_STATE_EMPTY),
+               bv_splitter(new BVSplitter<BV>(SPLIT_METHOD_MEAN)),
+               bv_fitter(new BVFitter<BV>()),
+               num_tris_allocated(0),
+               num_vertices_allocated(0),
+               num_bvs_allocated(0),
+               num_vertex_updated(0),
+               primitive_indices(NULL),
+               bvs(NULL),
+               num_bvs(0)
   {
-    vertices = NULL;
-    tri_indices = NULL;
-    bvs = NULL;
-
-    num_tris = 0;
-    num_tris_allocated = 0;
-    num_vertices = 0;
-    num_vertices_allocated = 0;
-    num_bvs = 0;
-    num_bvs_allocated = 0;
-
-    prev_vertices = NULL;
-
-    primitive_indices = NULL;
-
-    build_state = BVH_BUILD_STATE_EMPTY;
-
-    bv_splitter.reset(new BVSplitter<BV>(SPLIT_METHOD_MEAN));
-    bv_fitter.reset(new BVFitter<BV>());
   }
-  BVHModel(const BVHModel& other);
 
+  /// @brief copy from another BVH
+  BVHModel(const BVHModel& other);
 
+  /// @brief deconstruction, delete mesh data related.
   ~BVHModel()
   {
     delete [] vertices;
@@ -117,162 +97,185 @@ public:
     delete [] bvs;
 
     delete [] prev_vertices;
-
     delete [] primitive_indices;
   }
 
-  /** \brief We provide getBV() and getNumBVs() because BVH may be compressed (in future), so
-      we must provide some flexibility here */
+  /// @brief We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here
   
-  /** \brief Get the BV of index id */
+  /// @brief Access the bv giving the its index
   const BVNode<BV>& getBV(int id) const
   {
     return bvs[id];
   }
 
-  /** \brief Get the BV of index id */
+  /// @brief Access the bv giving the its index
   BVNode<BV>& getBV(int id)
   {
     return bvs[id];
   }
 
-  /** \brief Get the number of BVs */
+  /// @brief Get the number of bv in the BVH
   int getNumBVs() const
   {
     return num_bvs;
   }
 
-  /** \brief Get the object type: it is a BVH */
+  /// @brief Get the object type: it is a BVH
   OBJECT_TYPE getObjectType() const { return OT_BVH; }
 
-  /** \brief Get the BV type */
+  /// @brief Get the BV type: default is unknown
   NODE_TYPE getNodeType() const { return BV_UNKNOWN; }
 
-  /** \brief Compute the AABB for the BVH, used for broad-phase collision */
+  /// @brief Compute the AABB for the BVH, used for broad-phase collision
   void computeLocalAABB();
 
-  /** \brief Geometry point data */
-  Vec3f* vertices;
-
-  /** \brief Geometry triangle index data, will be NULL for point clouds */
-  Triangle* tri_indices;
-
-  /** \brief Geometry point data in previous frame */
-  Vec3f* prev_vertices;
-
-  /** \brief Number of triangles */
-  int num_tris;
-
-  /** \brief Number of points */
-  int num_vertices;
-
-  /** \brief Begin a new BVH model */
+  /// @brief Begin a new BVH model
   int beginModel(int num_tris = 0, int num_vertices = 0);
 
-  /** \brief Add one point in the new BVH model */
+  /// @brief Add one point in the new BVH model
   int addVertex(const Vec3f& p);
 
-  /** \brief Add one triangle in the new BVH model */
+  /// @brief Add one triangle in the new BVH model
   int addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
 
-  /** \brief Add a set of triangles in the new BVH model */
+  /// @brief Add a set of triangles in the new BVH model
   int addSubModel(const std::vector<Vec3f>& ps, const std::vector<Triangle>& ts);
 
-  /** \brief Add a set of points in the new BVH model */
+  /// @brief Add a set of points in the new BVH model
   int addSubModel(const std::vector<Vec3f>& ps);
 
-  /** \brief End BVH model construction, will build the bounding volume hierarchy */
+  /// @brief End BVH model construction, will build the bounding volume hierarchy
   int endModel();
 
 
-  /** \brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame) */
+  /// @brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)
   int beginReplaceModel();
 
-  /** \brief Replace one point in the old BVH model */
+  /// @brief Replace one point in the old BVH model
   int replaceVertex(const Vec3f& p);
 
-  /** \brief Replace one triangle in the old BVH model */
+  /// @brief Replace one triangle in the old BVH model
   int replaceTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
 
-  /** \brief Replace a set of points in the old BVH model */
+  /// @brief Replace a set of points in the old BVH model
   int replaceSubModel(const std::vector<Vec3f>& ps);
 
-  /** \brief End BVH model replacement, will also refit or rebuild the bounding volume hierarchy */
+  /// @brief End BVH model replacement, will also refit or rebuild the bounding volume hierarchy
   int endReplaceModel(bool refit = true, bool bottomup = true);
 
 
-  /** \brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame).
-   *  The current frame will be saved as the previous frame in prev_vertices.
-   *  */
+  /// @brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame).
+  /// The current frame will be saved as the previous frame in prev_vertices.
   int beginUpdateModel();
 
-  /** \brief Update one point in the old BVH model */
+  /// @brief Update one point in the old BVH model
   int updateVertex(const Vec3f& p);
 
-  /** \brief Update one triangle in the old BVH model */
+  /// @brief Update one triangle in the old BVH model
   int updateTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
 
-  /** \brief Update a set of points in the old BVH model */
+  /// @brief Update a set of points in the old BVH model
   int updateSubModel(const std::vector<Vec3f>& ps);
 
-  /** \brief End BVH model update, will also refit or rebuild the bounding volume hierarchy */
+  /// @brief End BVH model update, will also refit or rebuild the bounding volume hierarchy
   int endUpdateModel(bool refit = true, bool bottomup = true);
 
-  /** \brief Check the number of memory used */
+  /// @brief Check the number of memory used
   int memUsage(int msg) const;
 
+  /// @brief This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent 
+  /// BV node. When traversing the BVH, this can save one matrix transformation.
   void makeParentRelative()
   {
-    makeParentRelativeRecurse(0, Matrix3f::getIdentity(), Vec3f());
+    Vec3f I[3] = {Vec3f(1, 0, 0), Vec3f(0, 1, 0), Vec3f(0, 0, 1)};
+    makeParentRelativeRecurse(0, I, Vec3f());
   }
 
+public:
+  /// @brief Geometry point data
+  Vec3f* vertices;
+
+  /// @brief Geometry triangle index data, will be NULL for point clouds
+  Triangle* tri_indices;
+
+  /// @brief Geometry point data in previous frame
+  Vec3f* prev_vertices;
+
+  /// @brief Number of triangles
+  int num_tris;
+
+  /// @brief Number of points
+  int num_vertices;
+
+  /// @brief The state of BVH building process
+  BVHBuildState build_state;
+
+  /// @brief Split rule to split one BV node into two children
+  boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;
+
+  /// @brief Fitting rule to fit a BV node to a set of geometry primitives
+  boost::shared_ptr<BVFitterBase<BV> > bv_fitter;
+
 private:
 
-  /** \brief Bounding volume hierarchy */
+  int num_tris_allocated;
+  int num_vertices_allocated;
+  int num_bvs_allocated;
+  int num_vertex_updated; /// for ccd vertex update
+  unsigned int* primitive_indices;
+
+
+  /// @brief Bounding volume hierarchy
   BVNode<BV>* bvs;
 
-  /** \brief Number of BV nodes in bounding volume hierarchy */
+  /// @brief Number of BV nodes in bounding volume hierarchy
   int num_bvs;
 
-  /** \brief Build the bounding volume hierarchy */
+  /// @brief Build the bounding volume hierarchy
   int buildTree();
 
-  /** \brief Refit the bounding volume hierarchy */
+  /// @brief Refit the bounding volume hierarchy
   int refitTree(bool bottomup);
 
-  /** \brief Refit the bounding volume hierarchy in a top-down way (slow but more compact)*/
+  /// @brief Refit the bounding volume hierarchy in a top-down way (slow but more compact)
   int refitTree_topdown();
 
-  /** \brief Refit the bounding volume hierarchy in a bottom-up way (fast but less compact) */
+  /// @brief Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)
   int refitTree_bottomup();
 
-  /** \brief Recursive kernel for hierarchy construction */
+  /// @brief Recursive kernel for hierarchy construction
   int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);
 
-  /** \brief Recursive kernel for bottomup refitting */
+  /// @brief Recursive kernel for bottomup refitting 
   int recursiveRefitTree_bottomup(int bv_id);
 
-  void makeParentRelativeRecurse(int bv_id, const Matrix3f& parentR, const Vec3f& parentT)
+  /// @recursively compute each bv's transform related to its parent. For default BV, only the translation works. 
+  /// For oriented BV (OBB, RSS, OBBRSS), special implementation is provided.
+  void makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c)
   {
     if(!bvs[bv_id].isLeaf())
     {
-      makeParentRelativeRecurse(bvs[bv_id].first_child, bvs[bv_id].getOrientation(), bvs[bv_id].getCenter());
+      makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axis, bvs[bv_id].getCenter());
 
-      makeParentRelativeRecurse(bvs[bv_id].first_child + 1, bvs[bv_id].getOrientation(), bvs[bv_id].getCenter());
+      makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axis, bvs[bv_id].getCenter());
     }
 
-    // make self parent relative
-    Matrix3f Rpc = parentR.transposeTimes(bvs[bv_id].getOrientation());
-    bvs[bv_id].setOrientation(Rpc);
-
-    Vec3f Tpc = bvs[bv_id].getCenter() - parentT;
-    bvs[bv_id].setCenter(parentR.transposeTimes(Tpc));
+    bvs[bv_id].bv = translate(bvs[bv_id].bv, -parent_c);
   }
-
 };
 
 
-/** Specialization of getNodeType() for BVHModel with different BV types */
+template<>
+void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c);
+
+template<>
+void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c);
+
+template<>
+void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c);
+
+
+/// @brief Specialization of getNodeType() for BVHModel with different BV types
 template<>
 NODE_TYPE BVHModel<AABB>::getNodeType() const;
 

trunk/fcl/include/fcl/BVH_utility.h

@@ -44,7 +44,7 @@
 
 namespace fcl
 {
-/** \brief Expand the BVH bounding boxes according to uncertainty */
+/// @brief Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node
 template<typename BV>
 void BVHExpand(BVHModel<BV>& model, const Variance3f* ucs, FCL_REAL r)
 {
@@ -71,33 +71,29 @@ void BVHExpand(BVHModel<BV>& model, const Variance3f* ucs, FCL_REAL r)
   }
 }
 
-/** \brief Expand the BVH bounding boxes according to uncertainty, for OBB */
+/// @brief Expand the BVH bounding boxes according to the corresponding variance information, for OBB
 void BVHExpand(BVHModel<OBB>& model, const Variance3f* ucs, FCL_REAL r);
 
-/** \brief Expand the BVH bounding boxes according to uncertainty, for RSS */
+/// @brief Expand the BVH bounding boxes according to the corresponding variance information, for RSS
 void BVHExpand(BVHModel<RSS>& model, const Variance3f* ucs, FCL_REAL r);
 
-/** \brief Estimate the uncertainty of point clouds due to sampling procedure */
-void estimateSamplingUncertainty(Vec3f* vertices, int num_vertices, Variance3f* ucs);
+/// @brief Estimate the variance of point clouds due to sampling procedure
+void estimateSamplingVariance(Vec3f* vertices, int num_vertices, Variance3f* ucs);
   
 
-/** \brief Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles */
+/// @brief Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles
 void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& M);
 
-/** \brief Compute the RSS bounding volume parameters: radius, rectangle size and the origin.
- * The bounding volume axes are known.
- */
+/// @brief Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises.
 void getRadiusAndOriginAndRectangleSize(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Vec3f axis[3], Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
 
-/** \brief Compute the bounding volume extent and center for a set or subset of points.
- * The bounding volume axes are known.
- */
+/// @brief Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
 void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Vec3f axis[3], Vec3f& center, Vec3f& extent);
 
-/** \brief Compute the center and radius for a triangle's circumcircle */
+/// @brief Compute the center and radius for a triangle's circumcircle
 void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec3f& center, FCL_REAL& radius);
 
-/** \brief Compute the maximum distance from a given center point to a point cloud */
+/// @brief Compute the maximum distance from a given center point to a point cloud
 FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Vec3f& query);
 
 

trunk/fcl/include/fcl/BV_fitter.h

@@ -47,11 +47,10 @@
 #include "fcl/BV/OBBRSS.h"
 #include <iostream>
 
-/** \brief Main namespace */
 namespace fcl
 {
 
-/** \brief Compute a bounding volume that fits a set of n points. */
+/// @brief Compute a bounding volume that fits a set of n points.
 template<typename BV>
 void fit(Vec3f* ps, int n, BV& bv)
 {
@@ -74,28 +73,33 @@ template<>
 void fit<OBBRSS>(Vec3f* ps, int n, OBBRSS& bv);
 
 
+/// @brief Interface for fitting a bv given the triangles or points inside it.
 template<typename BV>
 class BVFitterBase
 {
 public:
+  /// @brief Set the primitives to be processed by the fitter
   virtual void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_) = 0;
 
+  /// @brief Set the primitives to be processed by the fitter, for deformable mesh.
   virtual void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_, BVHModelType type_) = 0;
 
+  /// @brief Compute the fitting BV
   virtual BV fit(unsigned int* primitive_indices, int num_primitives) = 0;
 
+  /// @brief clear the temporary data generated.
   virtual void clear() = 0;
 };
 
-/** \brief A class for fitting a bounding volume to a set of points  */
+/// @brief The class for the default algorithm fitting a bounding volume to a set of points
 template<typename BV>
 class BVFitter : public BVFitterBase<BV>
 {
 public:
-  /** \brief default deconstructor */
+  /// @brief default deconstructor
   virtual ~BVFitter() {}
 
-  /** \brief Prepare the geometry primitive data for fitting */
+  /// @brief Prepare the geometry primitive data for fitting
   void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_)
   {
     vertices = vertices_;
@@ -104,7 +108,7 @@ public:
     type = type_;
   }
 
-  /** \brief Prepare the geometry primitive data for fitting */
+  /// @brief Prepare the geometry primitive data for fitting, for deformable mesh
   void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_, BVHModelType type_)
   {
     vertices = vertices_;
@@ -113,14 +117,13 @@ public:
     type = type_;
   }
 
-  /** \brief Compute a bounding volume that fits a set of primitives (points or triangles).