ellipsoid_tree::AABBTree Class Reference

Axis-aligned bounding box (AABB) tree over a set of leaf boxes. More...

#include <ellipsoid_tree/aabb_tree.hpp>

Public Member Functions
	AABBTree ()=default
	Constructs an empty tree.
	AABBTree (const Eigen::Ref< const Eigen::MatrixXd > &leaf_lo, const Eigen::Ref< const Eigen::MatrixXd > &leaf_hi)
	Builds a tree over the leaf boxes given as columns of leaf_lo and leaf_hi.
void	build (const Eigen::Ref< const Eigen::MatrixXd > &leaf_lo, const Eigen::Ref< const Eigen::MatrixXd > &leaf_hi)
	(Re)builds the tree over the leaf boxes given as columns of leaf_lo and leaf_hi.
int	dim () const
	Spatial dimension of the leaf boxes.
int	num_leaves () const
	Number of leaf boxes (external objects) in the tree.
int	num_nodes () const
	Total number of nodes (2 * num_leaves - 1, or 0 when empty).
bool	empty () const
	True when the tree contains no nodes.
bool	is_leaf (int node) const
	True when node is a leaf (has no children in the heap layout).
int	left_child (int node) const
	Heap index of node's left child.
int	right_child (int node) const
	Heap index of node's right child.
int	external_index (int node) const
	External object index stored at a leaf node (-1 for internal nodes).
Eigen::Ref< const Eigen::VectorXd >	node_lo (int node) const
	Lower corner of node's bounding box.
Eigen::Ref< const Eigen::VectorXd >	node_hi (int node) const
	Upper corner of node's bounding box.
const Eigen::MatrixXd &	node_lo_matrix () const
	All node lower corners as a (dim, num_nodes) matrix.
const Eigen::MatrixXd &	node_hi_matrix () const
	All node upper corners as a (dim, num_nodes) matrix.
template<class NodePredicate , class LeafCallback >
bool	visit (NodePredicate &&overlaps_node, LeafCallback &&on_leaf) const
	Depth-first traversal.
std::vector< int >	point_collisions (const Eigen::Ref< const Eigen::VectorXd > &p) const
	External indices of all leaf boxes that contain the query point p.
std::vector< int >	box_collisions (const Eigen::Ref< const Eigen::VectorXd > &qlo, const Eigen::Ref< const Eigen::VectorXd > &qhi) const
	External indices of all leaf boxes that overlap the query box [qlo, qhi].
std::vector< int >	ball_collisions (const Eigen::Ref< const Eigen::VectorXd > &center, double radius) const
	External indices of all leaf boxes that intersect the ball of given center and radius.

Detailed Description

Axis-aligned bounding box (AABB) tree over a set of leaf boxes.

Constructor & Destructor Documentation

AABBTree() [1/2]

ellipsoid_tree::AABBTree::AABBTree ( )

default

Constructs an empty tree.

AABBTree() [2/2]

ellipsoid_tree::AABBTree::AABBTree ( const Eigen::Ref< const Eigen::MatrixXd > &  leaf_lo, const Eigen::Ref< const Eigen::MatrixXd > &  leaf_hi  )

inline

Builds a tree over the leaf boxes given as columns of leaf_lo and leaf_hi.

Member Function Documentation

build()

void ellipsoid_tree::AABBTree::build ( const Eigen::Ref< const Eigen::MatrixXd > &  leaf_lo, const Eigen::Ref< const Eigen::MatrixXd > &  leaf_hi  )

inline

(Re)builds the tree over the leaf boxes given as columns of leaf_lo and leaf_hi.

dim()

int ellipsoid_tree::AABBTree::dim ( ) const

inline

Spatial dimension of the leaf boxes.

num_leaves()

int ellipsoid_tree::AABBTree::num_leaves ( ) const

inline

Number of leaf boxes (external objects) in the tree.

num_nodes()

int ellipsoid_tree::AABBTree::num_nodes ( ) const

inline

Total number of nodes (2 * num_leaves - 1, or 0 when empty).

empty()

bool ellipsoid_tree::AABBTree::empty ( ) const

inline

True when the tree contains no nodes.

is_leaf()

bool ellipsoid_tree::AABBTree::is_leaf ( int  node ) const

inline

True when node is a leaf (has no children in the heap layout).

left_child()

int ellipsoid_tree::AABBTree::left_child ( int  node ) const

inline

Heap index of node's left child.

right_child()

int ellipsoid_tree::AABBTree::right_child ( int  node ) const

inline

Heap index of node's right child.

external_index()

int ellipsoid_tree::AABBTree::external_index ( int  node ) const

inline

External object index stored at a leaf node (-1 for internal nodes).

node_lo()

Eigen::Ref< const Eigen::VectorXd > ellipsoid_tree::AABBTree::node_lo ( int  node ) const

inline

Lower corner of node's bounding box.

node_hi()

Eigen::Ref< const Eigen::VectorXd > ellipsoid_tree::AABBTree::node_hi ( int  node ) const

inline

Upper corner of node's bounding box.

node_lo_matrix()

const Eigen::MatrixXd & ellipsoid_tree::AABBTree::node_lo_matrix ( ) const

inline

All node lower corners as a (dim, num_nodes) matrix.

node_hi_matrix()

const Eigen::MatrixXd & ellipsoid_tree::AABBTree::node_hi_matrix ( ) const

inline

All node upper corners as a (dim, num_nodes) matrix.

visit()

template<class NodePredicate , class LeafCallback >

bool ellipsoid_tree::AABBTree::visit ( NodePredicate &&  overlaps_node, LeafCallback &&  on_leaf  ) const

inline

Depth-first traversal.

overlaps_node(lo, hi) decides whether to descend into a node; on_leaf(external_index) is called for each overlapping leaf and stops the whole traversal by returning false. Returns false iff the traversal was stopped early.

point_collisions()

std::vector< int > ellipsoid_tree::AABBTree::point_collisions ( const Eigen::Ref< const Eigen::VectorXd > &  p ) const

inline

External indices of all leaf boxes that contain the query point p.

Convenience query; exact for the leaf boxes themselves.

box_collisions()

std::vector< int > ellipsoid_tree::AABBTree::box_collisions ( const Eigen::Ref< const Eigen::VectorXd > &  qlo, const Eigen::Ref< const Eigen::VectorXd > &  qhi  ) const

inline

External indices of all leaf boxes that overlap the query box [qlo, qhi].

ball_collisions()

std::vector< int > ellipsoid_tree::AABBTree::ball_collisions ( const Eigen::Ref< const Eigen::VectorXd > &  center, double  radius  ) const

inline

External indices of all leaf boxes that intersect the ball of given center and radius.

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The documentation for this class was generated from the following file:

• ellipsoid_tree/aabb_tree.hpp