msh3AlgDirPDTreeBA.h

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#ifndef _msh3AlgDirPDTreeBA_h
#define _msh3AlgDirPDTreeBA_h
 
#include <cisstMesh/msh3AlgDirPDTree.h>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3AlgDirPDTreeBA : public msh3AlgDirPDTree
{
    //
    // This algorithm implements a closest-point search with bounded
    //  orientation error
    //
 
    //--- Algorithm Parameters ---//
 
 protected:
 
    double maxMatchAngle;       // threshold on match orientation error (radians)
    double cos_maxMatchAngle;   // pre-computed cosine of the match orientation error
 
    //--- Algorithm Methods ---//
 
 public:
 
    // constructor
    msh3AlgDirPDTreeBA(msh3DirPDTreeBase *pDirTree, double maxMatchAngle_ = 2.0*cmnPI) :
        msh3AlgDirPDTree(pDirTree),
        maxMatchAngle(maxMatchAngle_),
        cos_maxMatchAngle(cos(maxMatchAngle_))
            {}
 
    // destructor
    virtual ~msh3AlgDirPDTreeBA() {}
 
    //--- PD Tree Interface Methods ---//
 
    int NodeMightBeCloser(const vct3 &Xp, const vct3 &Xn,
                          msh3DirPDTreeNode const *node,
                          double ErrorBound);
 
    virtual double FindClosestPointOnDatum(const vct3 &Xp, const vct3 &Xn,
                                           vct3 &closest, vct3 &closestNorm,
                                           int datum) = 0;
 
    virtual int DatumMightBeCloser(const vct3 &Xp, const vct3 &Xn,
                                   int datum,
                                   double ErrorBound) = 0;
};
 
#endif