#include <array>#include <fstream>#include <iostream>#include "fcl/common/unused.h"#include "fcl/math/constants.h"#include "fcl/math/triangle.h"#include "fcl/geometry/shape/box.h"#include "fcl/geometry/shape/sphere.h"#include "fcl/geometry/shape/cylinder.h"#include "fcl/geometry/bvh/BVH_model.h"#include "fcl/geometry/octree/octree.h"#include "fcl/narrowphase/collision.h"#include "fcl/narrowphase/distance.h"#include "fcl/narrowphase/collision_object.h"#include "fcl/narrowphase/collision_result.h"#include "fcl/narrowphase/continuous_collision_object.h"#include "fcl/narrowphase/continuous_collision_request.h"#include "fcl/narrowphase/continuous_collision_result.h"#include <sys/time.h>
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Classes | |
| struct | fcl::test::DistanceRes< S > |
| Structure for minimum distance between two meshes and the corresponding nearest point pair. More... | |
| class | fcl::test::Timer |
| struct | fcl::test::TStruct |
Namespaces | |
| fcl | |
| Main namespace. | |
| fcl::test | |
Functions | |
| template<typename S > | |
| void | fcl::test::eulerToMatrix (S a, S b, S c, Matrix3< S > &R) |
| template<typename S > | |
| void | fcl::test::generateEnvironments (std::vector< CollisionObject< S > * > &env, S env_scale, std::size_t n) |
| Generate environment with 3 * n objects: n boxes, n spheres and n cylinders. More... | |
| template<typename S > | |
| void | fcl::test::generateEnvironmentsMesh (std::vector< CollisionObject< S > * > &env, S env_scale, std::size_t n) |
| Generate environment with 3 * n objects, but all in meshes. More... | |
| template<typename S > | |
| void | fcl::test::generateRandomTransform (const std::array< S, 6 > &extents, Transform3< S > &transform) |
| template<typename S > | |
| void | fcl::test::generateRandomTransform (S extents[6], Transform3< S > &transform) |
| Generate one random transform whose translation is constrained by extents and rotation without constraints. The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5]. More... | |
| template<typename S > | |
| void | fcl::test::generateRandomTransforms (S extents[6], aligned_vector< Transform3< S >> &transforms, std::size_t n) |
| Generate n random transforms whose translations are constrained by extents. More... | |
| template<typename S > | |
| void | fcl::test::generateRandomTransforms (S extents[6], S delta_trans[3], S delta_rot, aligned_vector< Transform3< S >> &transforms, aligned_vector< Transform3< S >> &transforms2, std::size_t n) |
| Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated. More... | |
| template<typename S > | |
| void | fcl::test::generateRandomTransforms_ccd (S extents[6], aligned_vector< Transform3< S >> &transforms, aligned_vector< Transform3< S >> &transforms2, S delta_trans[3], S delta_rot, std::size_t n, const std::vector< Vector3< S >> &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vector3< S >> &vertices2, const std::vector< Triangle > &triangles2) |
| Generate n random tranforms and transform2 with addtional random translation/rotation. The transforms and transform2 are used as initial and goal configurations for the first mesh. The second mesh is in I. This is used for continuous collision detection checking. More... | |
| std::string | fcl::test::getGJKSolverName (GJKSolverType solver_type) |
| std::string | fcl::test::getNodeTypeName (NODE_TYPE node_type) |
| template<typename S > | |
| void | fcl::test::loadOBJFile (const char *filename, std::vector< Vector3< S >> &points, std::vector< Triangle > &triangles) |
| Load an obj mesh file. More... | |
| template<typename S > | |
| S | fcl::test::rand_interval (S rmin, S rmax) |
| template<typename S > | |
| void | fcl::test::saveOBJFile (const char *filename, std::vector< Vector3< S >> &points, std::vector< Triangle > &triangles) |