From 9d6a9e1130c5ceef9cea4c9707700a65d72557d9 Mon Sep 17 00:00:00 2001
From: Lucile Remigy <lucile.remigy@epitech.eu>
Date: Mon, 14 Oct 2019 14:49:21 +0200
Subject: [PATCH] DOC, group of class, internal file
---
include/hpp/fcl/BV/AABB.h | 4 +
include/hpp/fcl/BV/BV_node.h | 4 +
include/hpp/fcl/BV/OBB.h | 3 +
include/hpp/fcl/BV/OBBRSS.h | 3 +
include/hpp/fcl/BV/RSS.h | 3 +
include/hpp/fcl/BV/kDOP.h | 3 +
include/hpp/fcl/BV/kIOS.h | 5 +-
include/hpp/fcl/BVH/BVH_model.h | 6 +-
include/hpp/fcl/collision_object.h | 3 +
include/hpp/fcl/distance.h | 2 +-
include/hpp/fcl/shape/geometric_shapes.h | 4 +
src/collision_node.h | 11 +-
src/distance_func_matrix.h | 11 +-
src/intersect.h | 7 +-
src/traversal/details/traversal.h | 5 +-
src/traversal/traversal_node_base.h | 22 ++-
src/traversal/traversal_node_bvh_shape.h | 27 ++--
src/traversal/traversal_node_bvhs.h | 26 +--
src/traversal/traversal_node_octree.h | 193 ++++++++++++-----------
src/traversal/traversal_node_setup.h | 8 +-
src/traversal/traversal_node_shapes.h | 19 ++-
src/traversal/traversal_recurse.h | 14 +-
22 files changed, 231 insertions(+), 152 deletions(-)
diff --git a/include/hpp/fcl/BV/AABB.h b/include/hpp/fcl/BV/AABB.h
index 72954a64..55a5e4ad 100644
--- a/include/hpp/fcl/BV/AABB.h
+++ b/include/hpp/fcl/BV/AABB.h
@@ -46,6 +46,10 @@ namespace hpp
namespace fcl
{
class CollisionRequest;
+/// @defgroup Bounding_Volume
+/// regroup class of differents types of bounding volume.
+/// @{
+
/// @brief A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points
class AABB
{
diff --git a/include/hpp/fcl/BV/BV_node.h b/include/hpp/fcl/BV/BV_node.h
index e7fc6374..86e858f2 100644
--- a/include/hpp/fcl/BV/BV_node.h
+++ b/include/hpp/fcl/BV/BV_node.h
@@ -49,6 +49,10 @@ namespace hpp
namespace fcl
{
+/// @defgroup Construction_Of_BVH
+/// regroup class which are used to build BVH (Bounding Volume Hierarchy)
+/// @{
+
/// @brief BVNodeBase encodes the tree structure for BVH
struct BVNodeBase
{
diff --git a/include/hpp/fcl/BV/OBB.h b/include/hpp/fcl/BV/OBB.h
index 80cf45ed..32468de6 100644
--- a/include/hpp/fcl/BV/OBB.h
+++ b/include/hpp/fcl/BV/OBB.h
@@ -46,6 +46,9 @@ namespace fcl
{
class CollisionRequest;
+/// @addtogroup Bounding_Volume
+/// @{
+
/// @brief Oriented bounding box class
class OBB
{
diff --git a/include/hpp/fcl/BV/OBBRSS.h b/include/hpp/fcl/BV/OBBRSS.h
index 78a32390..def7ce67 100644
--- a/include/hpp/fcl/BV/OBBRSS.h
+++ b/include/hpp/fcl/BV/OBBRSS.h
@@ -48,6 +48,9 @@ namespace fcl
{
class CollisionRequest;
+/// @addtogroup Bounding_Volume
+/// @{
+
/// @brief Class merging the OBB and RSS, can handle collision and distance simultaneously
class OBBRSS
{
diff --git a/include/hpp/fcl/BV/RSS.h b/include/hpp/fcl/BV/RSS.h
index b626e27e..a380de68 100644
--- a/include/hpp/fcl/BV/RSS.h
+++ b/include/hpp/fcl/BV/RSS.h
@@ -48,6 +48,9 @@ namespace fcl
{
class CollisionRequest;
+/// @addtogroup Bounding_Volume
+/// @{
+
/// @brief A class for rectangle sphere-swept bounding volume
class RSS
{
diff --git a/include/hpp/fcl/BV/kDOP.h b/include/hpp/fcl/BV/kDOP.h
index 61e43d90..6a5c6aab 100644
--- a/include/hpp/fcl/BV/kDOP.h
+++ b/include/hpp/fcl/BV/kDOP.h
@@ -48,6 +48,9 @@ namespace fcl
class CollisionRequest;
+ /// @addtogroup Bounding_Volume
+ /// @{
+
/// @brief KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24
/// The KDOP structure is defined by some pairs of parallel planes defined by some axes.
/// For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges:
diff --git a/include/hpp/fcl/BV/kIOS.h b/include/hpp/fcl/BV/kIOS.h
index 2227c975..be1a4f0b 100644
--- a/include/hpp/fcl/BV/kIOS.h
+++ b/include/hpp/fcl/BV/kIOS.h
@@ -46,7 +46,10 @@ namespace hpp
namespace fcl
{
class CollisionRequest;
-
+
+/// @addtogroup Bounding_Volume
+/// @{
+
/// @brief A class describing the kIOS collision structure, which is a set of spheres.
class kIOS
{
diff --git a/include/hpp/fcl/BVH/BVH_model.h b/include/hpp/fcl/BVH/BVH_model.h
index d6d20033..095ff21c 100644
--- a/include/hpp/fcl/BVH/BVH_model.h
+++ b/include/hpp/fcl/BVH/BVH_model.h
@@ -50,6 +50,9 @@ namespace hpp
namespace fcl
{
+/// @addtogroup Construction_Of_BVH
+/// @{
+
class ConvexBase;
template <typename BV> class BVFitter;
@@ -338,7 +341,7 @@ private:
/// @brief Recursive kernel for bottomup refitting
int recursiveRefitTree_bottomup(int bv_id);
- /// @recursively compute each bv's transform related to its parent. For default BV, only the translation works.
+ /// @ 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, Matrix3f& parent_axes, const Vec3f& parent_c)
{
@@ -353,6 +356,7 @@ private:
}
};
+/// @}
template<>
void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
diff --git a/include/hpp/fcl/collision_object.h b/include/hpp/fcl/collision_object.h
index 9af086f5..1e743dbd 100644
--- a/include/hpp/fcl/collision_object.h
+++ b/include/hpp/fcl/collision_object.h
@@ -56,6 +56,9 @@ enum OBJECT_TYPE {OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE, OT_COUNT};
enum NODE_TYPE {BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18, BV_KDOP24,
GEOM_BOX, GEOM_SPHERE, GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE, NODE_COUNT};
+/// @addtogroup Construction_Of_BVH
+/// @{
+
/// @brief The geometry for the object for collision or distance computation
class CollisionGeometry
{
diff --git a/include/hpp/fcl/distance.h b/include/hpp/fcl/distance.h
index d04d2c82..45bbcbd7 100644
--- a/include/hpp/fcl/distance.h
+++ b/include/hpp/fcl/distance.h
@@ -33,7 +33,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-/** \author Jia Pan */
+/** @author Jia Pan */
#ifndef HPP_FCL_DISTANCE_H
#define HPP_FCL_DISTANCE_H
diff --git a/include/hpp/fcl/shape/geometric_shapes.h b/include/hpp/fcl/shape/geometric_shapes.h
index 557f7c18..68c5cf07 100644
--- a/include/hpp/fcl/shape/geometric_shapes.h
+++ b/include/hpp/fcl/shape/geometric_shapes.h
@@ -62,6 +62,10 @@ public:
OBJECT_TYPE getObjectType() const { return OT_GEOM; }
};
+/// @defgroup Geometric_Shapes
+/// regroup class of differents types of geometric shapes.
+/// @{
+
/// @brief Triangle stores the points instead of only indices of points
class TriangleP : public ShapeBase
{
diff --git a/src/collision_node.h b/src/collision_node.h
index 961e3faa..7f2ffbd2 100644
--- a/src/collision_node.h
+++ b/src/collision_node.h
@@ -35,15 +35,14 @@
/** \author Jia Pan */
-
#ifndef HPP_FCL_COLLISION_NODE_H
#define HPP_FCL_COLLISION_NODE_H
+/// @cond INTERNAL
+
+#include <hpp/fcl/BVH/BVH_front.h>
#include "traversal/traversal_node_base.h"
#include "traversal/traversal_node_bvhs.h"
-#include <hpp/fcl/BVH/BVH_front.h>
-
-
/// @brief collision and distance function on traversal nodes. these functions provide a higher level abstraction for collision functions provided in collision_func_matrix
namespace hpp
@@ -59,16 +58,16 @@ namespace fcl
/// do not collide.
/// @param front_list list of nodes visited by the query, can be used to
/// accelerate computation
-/// @internal collide, private function.
void collide(CollisionTraversalNodeBase* node, const CollisionRequest& request,
CollisionResult& result, BVHFrontList* front_list = NULL,
bool recursive = true);
/// @brief distance computation on distance traversal node; can use front list to accelerate
-/// @internal distance, private function.
void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list = NULL, int qsize = 2);
}
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/distance_func_matrix.h b/src/distance_func_matrix.h
index 401accac..3a142614 100644
--- a/src/distance_func_matrix.h
+++ b/src/distance_func_matrix.h
@@ -34,6 +34,11 @@
/** \author Florent Lamiraux */
+#ifndef HPP_FCL_DISTANCE_FUNC_MATRIX_H
+#define HPP_FCL_DISTANCE_FUNC_MATRIX_H
+
+/// @cond INTERNAL
+
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/narrowphase/narrowphase.h>
@@ -41,7 +46,6 @@ namespace hpp
{
namespace fcl
{
- /// @internal ShapeShapeDistance, private function.
template<typename T_SH1, typename T_SH2>
FCL_REAL ShapeShapeDistance
(const CollisionGeometry* o1, const Transform3f& tf1,
@@ -49,7 +53,6 @@ namespace fcl
const GJKSolver* nsolver, const DistanceRequest& request,
DistanceResult& result);
- /// @internal ShapeShapeCollide, private function.
template<typename T_SH1, typename T_SH2>
std::size_t ShapeShapeCollide
(const CollisionGeometry* o1, const Transform3f& tf1,
@@ -59,3 +62,7 @@ namespace fcl
}
} // namespace hpp
+
+/// @endcond
+
+#endif
\ No newline at end of file
diff --git a/src/intersect.h b/src/intersect.h
index 5e519c7a..b0b397a3 100644
--- a/src/intersect.h
+++ b/src/intersect.h
@@ -38,6 +38,8 @@
#ifndef HPP_FCL_INTERSECT_H
#define HPP_FCL_INTERSECT_H
+/// @cond INTERNAL
+
#include <hpp/fcl/math/transform.h>
#include <boost/math/special_functions/erf.hpp>
@@ -47,7 +49,6 @@ namespace fcl
{
/// @brief CCD intersect kernel among primitives
-/// @internal Intersect, private class.
class Intersect
{
public:
@@ -56,7 +57,6 @@ public:
}; // class Intersect
/// @brief Project functions
-/// @internal Project, private class.
class Project
{
public:
@@ -96,7 +96,6 @@ public:
};
/// @brief Triangle distance functions
-/// @internal TriangleDistance, private class.
class TriangleDistance
{
public:
@@ -193,4 +192,6 @@ public:
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/traversal/details/traversal.h b/src/traversal/details/traversal.h
index 2979a601..82553dcd 100644
--- a/src/traversal/details/traversal.h
+++ b/src/traversal/details/traversal.h
@@ -34,10 +34,11 @@
/** \author Joseph Mirabel */
-
#ifndef HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
#define HPP_FCL_TRAVERSAL_DETAILS_TRAVERSAL_H
+/// @cond INTERNAL
+
namespace hpp
{
namespace fcl
@@ -73,4 +74,6 @@ namespace details
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/traversal/traversal_node_base.h b/src/traversal/traversal_node_base.h
index e583cdfd..6f6c41e3 100644
--- a/src/traversal/traversal_node_base.h
+++ b/src/traversal/traversal_node_base.h
@@ -38,6 +38,8 @@
#ifndef HPP_FCL_TRAVERSAL_NODE_BASE_H
#define HPP_FCL_TRAVERSAL_NODE_BASE_H
+/// @cond INTERNAL
+
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>
@@ -47,9 +49,7 @@ namespace hpp
namespace fcl
{
-
/// @brief Node structure encoding the information required for traversal.
-/// @internal TraversalNodeBase, private class.
class TraversalNodeBase
{
@@ -91,9 +91,11 @@ public:
Transform3f tf2;
};
+/// @defgroup Traversal_For_Collision
+/// regroup class about traversal for distance.
+/// @{
/// @brief Node structure encoding the information required for collision traversal.
-/// @internal CollisionTraversalNodeBase, private class.
class CollisionTraversalNodeBase : public TraversalNodeBase
{
public:
@@ -133,8 +135,13 @@ public:
bool enable_statistics;
};
+/// @}
+
+/// @defgroup Traversal_For_Distance
+/// regroup class about traversal for distance.
+/// @{
+
/// @brief Node structure encoding the information required for distance traversal.
-/// @internal DistanceTraversalNodeBase, private class.
class DistanceTraversalNodeBase : public TraversalNodeBase
{
public:
@@ -165,8 +172,13 @@ public:
/// @brief Whether stores statistics
bool enable_statistics;
};
+
+///@}
+
}
} // namespace hpp
-#endif
+/// @endcond
+
+#endif
\ No newline at end of file
diff --git a/src/traversal/traversal_node_bvh_shape.h b/src/traversal/traversal_node_bvh_shape.h
index 1fbccff9..0fb53f78 100644
--- a/src/traversal/traversal_node_bvh_shape.h
+++ b/src/traversal/traversal_node_bvh_shape.h
@@ -39,6 +39,8 @@
#ifndef HPP_FCL_TRAVERSAL_NODE_MESH_SHAPE_H
#define HPP_FCL_TRAVERSAL_NODE_MESH_SHAPE_H
+/// @cond INTERNAL
+
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include "../src/shape/geometric_shapes_utility.h"
@@ -52,8 +54,10 @@ namespace hpp
namespace fcl
{
+/// @addtogroup Traversal_For_Collision
+/// @{
+
/// @brief Traversal node for collision between BVH and shape
-/// @internal BVHShapeCollisionTraversalNode, private class.
template<typename BV, typename S>
class BVHShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
@@ -97,7 +101,6 @@ public:
};
/// @brief Traversal node for collision between shape and BVH
-/// @internal ShapeBVHCollisionTraversalNode, private class.
template<typename S, typename BV>
class ShapeBVHCollisionTraversalNode : public CollisionTraversalNodeBase
{
@@ -148,7 +151,6 @@ 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>
@@ -263,7 +265,6 @@ 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>
{
@@ -311,7 +312,6 @@ 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>
@@ -425,7 +425,6 @@ 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>
{
@@ -465,8 +464,12 @@ public:
}
};
+/// @}
+
+/// @addtogroup Traversal_For_Distance
+/// @{
+
/// @brief Traversal node for distance computation between BVH and shape
-/// @internal BVHShapeDistanceTraversalNode, private class.
template<typename BV, typename S>
class BVHShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
@@ -515,7 +518,6 @@ public:
};
/// @brief Traversal node for distance computation between shape and BVH
-/// @internal ShapeBVHShapeDistanceTraversalNode, private class.
template<typename S, typename BV>
class ShapeBVHDistanceTraversalNode : public DistanceTraversalNodeBase
{
@@ -565,7 +567,6 @@ 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>
{
@@ -691,7 +692,6 @@ 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, kIOS, OBBRSS)
-/// @internal MeshShapeDistanceTraversalNodeRSS/kIOS/OBBRSS, private class.
template<typename S>
class MeshShapeDistanceTraversalNodeRSS : public MeshShapeDistanceTraversalNode<RSS, S>
{
@@ -790,7 +790,6 @@ 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>
{
@@ -850,7 +849,6 @@ public:
};
/// @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>
{
@@ -946,8 +944,13 @@ public:
}
};
+
+/// @}
+
}
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/traversal/traversal_node_bvhs.h b/src/traversal/traversal_node_bvhs.h
index 603dcec2..13d63f74 100644
--- a/src/traversal/traversal_node_bvhs.h
+++ b/src/traversal/traversal_node_bvhs.h
@@ -35,10 +35,11 @@
/** \author Jia Pan */
-
#ifndef HPP_FCL_TRAVERSAL_NODE_MESHES_H
#define HPP_FCL_TRAVERSAL_NODE_MESHES_H
+/// @cond INTERNAL
+
#include <hpp/fcl/collision_data.h>
#include "traversal_node_base.h"
#include <hpp/fcl/BV/BV_node.h>
@@ -55,13 +56,15 @@
#include <vector>
#include <cassert>
-
namespace hpp
{
namespace fcl
{
+
+/// @addtogroup Traversal_For_Collision
+/// @{
+
/// @brief Traversal node for collision between BVH models
-/// @internal BVHCollisionTraversalNode, private class.
template<typename BV>
class BVHCollisionTraversalNode : public CollisionTraversalNodeBase
{
@@ -139,7 +142,6 @@ public:
};
/// @brief Traversal node for collision between two meshes
-/// @internal MeshCollisionTraversalNode, private class.
template<typename BV, int _Options = RelativeTransformationIsIdentity>
class MeshCollisionTraversalNode : public BVHCollisionTraversalNode<BV>
{
@@ -174,7 +176,7 @@ 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),
@@ -266,12 +268,13 @@ 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 ;
typedef MeshCollisionTraversalNode<OBBRSS, 0> MeshCollisionTraversalNodeOBBRSS;
+/// @}
+
namespace details
{
template<typename BV> struct DistanceTraversalBVDistanceLowerBound_impl
@@ -298,8 +301,10 @@ namespace details
};
} // namespace details
+/// @addtogroup Traversal_For_Distance
+/// @{
+
/// @brief Traversal node for distance computation between BVH models
-/// @internal BVHDistanceTraversalNode, private class.
template<typename BV>
class BVHDistanceTraversalNode : public DistanceTraversalNodeBase
{
@@ -385,7 +390,6 @@ public:
/// @brief Traversal node for distance computation between two meshes
-/// @internal MeshDistanceTraversalNode, private class.
template<typename BV>
class MeshDistanceTraversalNode : public BVHDistanceTraversalNode<BV>
{
@@ -453,7 +457,6 @@ 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:
@@ -508,6 +511,8 @@ public:
Vec3f T;
};
+/// @}
+
/// @brief for OBB and RSS, there is local coordinate of BV, so normal need to be transformed
namespace details
{
@@ -524,11 +529,12 @@ inline const Matrix3f& getBVAxes<OBBRSS>(const OBBRSS& bv)
return bv.obb.axes;
}
-
}
}
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/traversal/traversal_node_octree.h b/src/traversal/traversal_node_octree.h
index 1590c99b..3042d43b 100644
--- a/src/traversal/traversal_node_octree.h
+++ b/src/traversal/traversal_node_octree.h
@@ -38,6 +38,8 @@
#ifndef HPP_FCL_TRAVERSAL_NODE_OCTREE_H
#define HPP_FCL_TRAVERSAL_NODE_OCTREE_H
+/// @cond INTERNAL
+
#include <hpp/fcl/collision_data.h>
#include "traversal_node_base.h"
#include <hpp/fcl/narrowphase/narrowphase.h>
@@ -51,7 +53,6 @@ namespace fcl
{
/// @brief Algorithms for collision related with octree
-/// @internal OcTreeSolver, private class.
class OcTreeSolver
{
private:
@@ -886,11 +887,10 @@ private:
}
};
-
-
+/// @addtogroup Traversal_For_Collision
+/// @{
/// @brief Traversal node for octree collision
-/// @internal OcTreeCollisionTraversalNode, private class.
class OcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
@@ -926,43 +926,7 @@ public:
const OcTreeSolver* otsolver;
};
-/// @brief Traversal node for octree distance
-/// @internal OcTreeDistanceTraversalNode, private class.
-class OcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
-{
-public:
- OcTreeDistanceTraversalNode()
- {
- model1 = NULL;
- model2 = NULL;
-
- otsolver = NULL;
- }
-
-
- FCL_REAL BVDistanceLowerBound(int, int) const
- {
- return -1;
- }
-
- bool BVDistanceLowerBound(int, int, FCL_REAL&) const
- {
- return false;
- }
-
- void leafComputeDistance(int, int) const
- {
- otsolver->OcTreeDistance(model1, model2, tf1, tf2, request, *result);
- }
-
- const OcTree* model1;
- const OcTree* model2;
-
- const OcTreeSolver* otsolver;
-};
-
/// @brief Traversal node for shape-octree collision
-/// @internal ShapeOcTreeCollisionTraversalNode, private class.
template<typename S>
class ShapeOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
@@ -1000,7 +964,7 @@ public:
};
/// @brief Traversal node for octree-shape collision
-/// @internal OcTreeShapeCollisionTraversalNode, private class.
+
template<typename S>
class OcTreeShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
@@ -1037,74 +1001,90 @@ public:
const OcTreeSolver* otsolver;
};
-/// @brief Traversal node for shape-octree distance
-/// @internal ShapeOcTreeCollisionTraversalNode, private class.
-template<typename S>
-class ShapeOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
+/// @brief Traversal node for mesh-octree collision
+template<typename BV>
+class MeshOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
- ShapeOcTreeDistanceTraversalNode()
+ MeshOcTreeCollisionTraversalNode(const CollisionRequest& request) :
+ CollisionTraversalNodeBase (request)
{
model1 = NULL;
model2 = NULL;
-
+
otsolver = NULL;
}
- FCL_REAL BVDistanceLowerBound(int, int) const
+ bool BVDisjoints(int, int) const
{
- return -1;
+ return false;
}
- void leafComputeDistance(int, int) const
+ bool BVDisjoints(int, int, FCL_REAL&) const
{
- otsolver->OcTreeShapeDistance(model2, *model1, tf2, tf1, request, *result);
+ return false;
}
- const S* model1;
+ void leafCollides(int, int, FCL_REAL&) const
+ {
+ otsolver->OcTreeMeshIntersect(model2, model1, tf2, tf1, request, *result);
+ }
+
+ const BVHModel<BV>* model1;
const OcTree* model2;
+ Transform3f tf1, tf2;
+
const OcTreeSolver* otsolver;
};
-/// @brief Traversal node for octree-shape distance
-/// @internal OcTreeShapeDistanceTraversalNode, private class.
-template<typename S>
-class OcTreeShapeDistanceTraversalNode : public DistanceTraversalNodeBase
+/// @brief Traversal node for octree-mesh collision
+template<typename BV>
+class OcTreeMeshCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
- OcTreeShapeDistanceTraversalNode()
+ OcTreeMeshCollisionTraversalNode(const CollisionRequest& request) :
+ CollisionTraversalNodeBase (request)
{
model1 = NULL;
model2 = NULL;
-
+
otsolver = NULL;
}
- FCL_REAL BVDistanceLowerBound(int, int) const
+ bool BVDisjoints(int, int) const
{
- return -1;
+ return false;
}
- void leafComputeDistance(int, int) const
+ bool BVDisjoints(int, int, FCL_REAL&) const
{
- otsolver->OcTreeShapeDistance(model1, *model2, tf1, tf2, request, *result);
+ return false;
+ }
+
+ void leafCollides(int, int, FCL_REAL&) const
+ {
+ otsolver->OcTreeMeshIntersect(model1, model2, tf1, tf2, request, *result);
}
const OcTree* model1;
- const S* model2;
+ const BVHModel<BV>* model2;
+ Transform3f tf1, tf2;
+
const OcTreeSolver* otsolver;
};
-/// @brief Traversal node for mesh-octree collision
-/// @internal MeshOcTreeCollisionTraversalNode, private class.
-template<typename BV>
-class MeshOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
+/// @}
+
+/// @addtogroup Traversal_For_Distance
+/// @{
+
+/// @brief Traversal node for octree distance
+class OcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
- MeshOcTreeCollisionTraversalNode(const CollisionRequest& request) :
- CollisionTraversalNodeBase (request)
+ OcTreeDistanceTraversalNode()
{
model1 = NULL;
model2 = NULL;
@@ -1112,69 +1092,89 @@ public:
otsolver = NULL;
}
- bool BVDisjoints(int, int) const
+
+ FCL_REAL BVDistanceLowerBound(int, int) const
{
- return false;
+ return -1;
}
- bool BVDisjoints(int, int, FCL_REAL&) const
+ bool BVDistanceLowerBound(int, int, FCL_REAL&) const
{
return false;
}
- void leafCollides(int, int, FCL_REAL&) const
+ void leafComputeDistance(int, int) const
{
- otsolver->OcTreeMeshIntersect(model2, model1, tf2, tf1, request, *result);
+ otsolver->OcTreeDistance(model1, model2, tf1, tf2, request, *result);
}
- const BVHModel<BV>* model1;
+ const OcTree* model1;
const OcTree* model2;
- Transform3f tf1, tf2;
-
const OcTreeSolver* otsolver;
};
-/// @brief Traversal node for octree-mesh collision
-/// @internal OcTreeMeshCollisionTraversalNode, private class.
-template<typename BV>
-class OcTreeMeshCollisionTraversalNode : public CollisionTraversalNodeBase
+
+
+/// @brief Traversal node for shape-octree distance
+template<typename S>
+class ShapeOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
- OcTreeMeshCollisionTraversalNode(const CollisionRequest& request) :
- CollisionTraversalNodeBase (request)
+ ShapeOcTreeDistanceTraversalNode()
{
model1 = NULL;
model2 = NULL;
-
+
otsolver = NULL;
}
- bool BVDisjoints(int, int) const
+ FCL_REAL BVDistanceLowerBound(int, int) const
{
- return false;
+ return -1;
}
- bool BVDisjoints(int, int, FCL_REAL&) const
+ void leafComputeDistance(int, int) const
{
- return false;
+ otsolver->OcTreeShapeDistance(model2, *model1, tf2, tf1, request, *result);
}
- void leafCollides(int, int, FCL_REAL&) const
+ const S* model1;
+ const OcTree* model2;
+
+ const OcTreeSolver* otsolver;
+};
+
+/// @brief Traversal node for octree-shape distance
+template<typename S>
+class OcTreeShapeDistanceTraversalNode : public DistanceTraversalNodeBase
+{
+public:
+ OcTreeShapeDistanceTraversalNode()
{
- otsolver->OcTreeMeshIntersect(model1, model2, tf1, tf2, request, *result);
+ model1 = NULL;
+ model2 = NULL;
+
+ otsolver = NULL;
+ }
+
+ FCL_REAL BVDistanceLowerBound(int, int) const
+ {
+ return -1;
+ }
+
+ void leafComputeDistance(int, int) const
+ {
+ otsolver->OcTreeShapeDistance(model1, *model2, tf1, tf2, request, *result);
}
const OcTree* model1;
- const BVHModel<BV>* model2;
+ const S* model2;
- Transform3f tf1, tf2;
-
const OcTreeSolver* otsolver;
};
/// @brief Traversal node for mesh-octree distance
-/// @internal MeshOcTreeDistanceTraversalNode, private class.
template<typename BV>
class MeshOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
@@ -1205,7 +1205,6 @@ public:
};
/// @brief Traversal node for octree-mesh distance
-/// @internal OcTreeMeshDistanceTraversalNode, private class.
template<typename BV>
class OcTreeMeshDistanceTraversalNode : public DistanceTraversalNodeBase
{
@@ -1235,10 +1234,12 @@ public:
};
-
+/// @}
}
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/traversal/traversal_node_setup.h b/src/traversal/traversal_node_setup.h
index 85cdfbc5..4dc10681 100644
--- a/src/traversal/traversal_node_setup.h
+++ b/src/traversal/traversal_node_setup.h
@@ -35,10 +35,11 @@
/** \author Jia Pan */
-
#ifndef HPP_FCL_TRAVERSAL_NODE_SETUP_H
#define HPP_FCL_TRAVERSAL_NODE_SETUP_H
+/// @cond INTERNAL
+
#include "traversal_node_bvhs.h"
#include "traversal_node_shapes.h"
#include "traversal_node_bvh_shape.h"
@@ -61,7 +62,7 @@ inline bool initialize(OcTreeCollisionTraversalNode& node,
const OcTree& model2, const Transform3f& tf2,
const OcTreeSolver* otsolver,
CollisionResult& result)
-{
+
node.result = &result;
node.model1 = &model1;
@@ -82,6 +83,7 @@ inline bool initialize(OcTreeDistanceTraversalNode& node,
const OcTreeSolver* otsolver,
const DistanceRequest& request,
DistanceResult& result)
+
{
node.request = request;
node.result = &result;
@@ -886,4 +888,6 @@ bool initialize(ShapeMeshDistanceTraversalNodeOBBRSS<S>& node,
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/traversal/traversal_node_shapes.h b/src/traversal/traversal_node_shapes.h
index a9f6a6e8..a6d96060 100644
--- a/src/traversal/traversal_node_shapes.h
+++ b/src/traversal/traversal_node_shapes.h
@@ -35,24 +35,26 @@
/** \author Jia Pan */
-
#ifndef HPP_FCL_TRAVERSAL_NODE_SHAPES_H
#define HPP_FCL_TRAVERSAL_NODE_SHAPES_H
+/// @cond INTERNAL
+
#include <hpp/fcl/collision_data.h>
-#include "traversal_node_base.h"
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/BV/BV.h>
#include "../src/shape/geometric_shapes_utility.h"
+#include "traversal_node_base.h"
namespace hpp
{
namespace fcl
{
+/// @addtogroup Traversal_For_Collision
+/// @{
/// @brief Traversal node for collision between two shapes
-/// @internal ShapeCollisionTraversalNode, private class.
template<typename S1, typename S2>
class ShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
@@ -114,8 +116,12 @@ public:
const GJKSolver* nsolver;
};
+/// @}
+
+/// @addtogroup Traversal_For_Distance
+/// @{
+
/// @brief Traversal node for distance between two shapes
-/// @internal ShapeDistanceTraversalNode, private class.
template<typename S1, typename S2>
class ShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
@@ -150,8 +156,13 @@ public:
const GJKSolver* nsolver;
};
+
+/// @}
+
}
} // namespace hpp
+/// @endcond
+
#endif
diff --git a/src/traversal/traversal_recurse.h b/src/traversal/traversal_recurse.h
index 4149d111..f5ac7578 100644
--- a/src/traversal/traversal_recurse.h
+++ b/src/traversal/traversal_recurse.h
@@ -35,14 +35,15 @@
/** \author Jia Pan */
-
#ifndef HPP_FCL_TRAVERSAL_RECURSE_H
#define HPP_FCL_TRAVERSAL_RECURSE_H
-#include "traversal_node_base.h"
-#include "traversal_node_bvhs.h"
+/// @cond INTERNAL
+
#include <hpp/fcl/BVH/BVH_front.h>
#include <queue>
+#include "traversal_node_base.h"
+#include "traversal_node_bvhs.h"
namespace hpp
{
@@ -53,24 +54,19 @@ namespace fcl
/// @param node collision node,
/// @param b1, b2 ids of bounding volume nodes for object 1 and object 2
/// @retval sqrDistLowerBound squared lower bound on distance between objects.
-/// @internal collisionRecurse, private function.
void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2,
BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound);
-/// @internal collisionNonRecurse, private function.
void collisionNonRecurse(CollisionTraversalNodeBase* node,
BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound);
/// @brief Recurse function for distance
-/// @internal distanceRecurse, private function.
void distanceRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list);
/// @brief Recurse function for distance, using queue acceleration
-/// @internal distanceQueueRecurse, private function.
void distanceQueueRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list, int qsize);
/// @brief Recurse function for front list propagation
-/// @internal propagateBVHFrontListCollisionRecurse, private function.
void propagateBVHFrontListCollisionRecurse
(CollisionTraversalNodeBase* node, const CollisionRequest& request,
CollisionResult& result, BVHFrontList* front_list);
@@ -79,4 +75,6 @@ void propagateBVHFrontListCollisionRecurse
} // namespace hpp
+/// @endcond
+
#endif
--
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