00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00038 #include "fcl/traversal/traversal_node_base.h" 00039 #include <limits> 00040 00041 namespace fcl 00042 { 00043 00044 TraversalNodeBase::~TraversalNodeBase() 00045 { 00046 } 00047 00048 bool TraversalNodeBase::isFirstNodeLeaf(int b) const 00049 { 00050 return true; 00051 } 00052 00053 bool TraversalNodeBase::isSecondNodeLeaf(int b) const 00054 { 00055 return true; 00056 } 00057 00058 bool TraversalNodeBase::firstOverSecond(int b1, int b2) const 00059 { 00060 return true; 00061 } 00062 00063 int TraversalNodeBase::getFirstLeftChild(int b) const 00064 { 00065 return b; 00066 } 00067 00068 int TraversalNodeBase::getFirstRightChild(int b) const 00069 { 00070 return b; 00071 } 00072 00073 int TraversalNodeBase::getSecondLeftChild(int b) const 00074 { 00075 return b; 00076 } 00077 00078 int TraversalNodeBase::getSecondRightChild(int b) const 00079 { 00080 return b; 00081 } 00082 00083 CollisionTraversalNodeBase::~CollisionTraversalNodeBase() 00084 { 00085 } 00086 00087 bool CollisionTraversalNodeBase::BVTesting(int b1, int b2) const 00088 { 00089 return true; 00090 } 00091 00092 void CollisionTraversalNodeBase::leafTesting(int b1, int b2) const 00093 { 00094 } 00095 00096 bool CollisionTraversalNodeBase::canStop() const 00097 { 00098 return false; 00099 } 00100 00101 00102 DistanceTraversalNodeBase::~DistanceTraversalNodeBase() 00103 { 00104 } 00105 00106 FCL_REAL DistanceTraversalNodeBase::BVTesting(int b1, int b2) const 00107 { 00108 return std::numeric_limits<FCL_REAL>::max(); 00109 } 00110 00111 void DistanceTraversalNodeBase::leafTesting(int b1, int b2) const 00112 { 00113 } 00114 00115 bool DistanceTraversalNodeBase::canStop(FCL_REAL c) const 00116 { 00117 return false; 00118 } 00119 00120 }
