OBB.h File Reference

`#include <iostream>`

`#include "fcl/common/types.h"`

`#include "fcl/math/geometry.h"`

`#include "fcl/math/bv/OBB-inl.h"`

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## Classes | |

class | fcl::OBB< S_ > |

Oriented bounding box class. More... | |

## Namespaces | |

fcl | |

Main namespace. | |

## Typedefs | |

using | fcl::OBBd = OBB< double > |

using | fcl::OBBf = OBB< float > |

## Functions | |

template<typename S > | |

FCL_EXPORT void | fcl::computeVertices (const OBB< S > &b, Vector3< S > vertices[8]) |

Compute the 8 vertices of a OBB. More... | |

template<typename S > | |

FCL_EXPORT OBB< S > | fcl::merge_largedist (const OBB< S > &b1, const OBB< S > &b2) |

OBB merge method when the centers of two smaller OBB are far away. More... | |

template<typename S > | |

FCL_EXPORT OBB< S > | fcl::merge_smalldist (const OBB< S > &b1, const OBB< S > &b2) |

OBB merge method when the centers of two smaller OBB are close. More... | |

template<typename S > | |

FCL_EXPORT bool | fcl::obbDisjoint (const Matrix3< S > &B, const Vector3< S > &T, const Vector3< S > &a, const Vector3< S > &b) |

Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b. More... | |

template<typename S > | |

FCL_EXPORT bool | fcl::obbDisjoint (const Transform3< S > &tf, const Vector3< S > &a, const Vector3< S > &b) |

Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b. More... | |

template<typename S , typename DerivedA , typename DerivedB > | |

FCL_EXPORT bool | fcl::overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const OBB< S > &b1, const OBB< S > &b2) |

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More... | |

template<typename S , typename Derived > | |

FCL_EXPORT OBB< S > | fcl::translate (const OBB< S > &bv, const Eigen::MatrixBase< Derived > &t) |

Translate the OBB bv. More... | |