/usr/include/fcl/collision_node.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
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* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
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/** \author Jia Pan */
#ifndef FCL_COLLISION_NODE_H
#define FCL_COLLISION_NODE_H
#include "fcl/traversal/traversal_node_base.h"
#include "fcl/traversal/traversal_node_bvhs.h"
#include "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 fcl
{
/// @brief collision on collision traversal node; can use front list to accelerate
void collide(CollisionTraversalNodeBase* node, BVHFrontList* front_list = NULL);
/// @brief self collision on collision traversal node; can use front list to accelerate
void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list = NULL);
/// @brief distance computation on distance traversal node; can use front list to accelerate
void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list = NULL, int qsize = 2);
/// @brief special collision on OBB traversal node
void collide2(MeshCollisionTraversalNodeOBB* node, BVHFrontList* front_list = NULL);
/// @brief special collision on RSS traversal node
void collide2(MeshCollisionTraversalNodeRSS* node, BVHFrontList* front_list = NULL);
}
#endif
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