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38 #ifndef HPP_FCL_DATA_TYPES_H
39 #define HPP_FCL_DATA_TYPES_H
42 #include <Eigen/Geometry>
44 #include <hpp/fcl/config.hh>
48 #ifdef HPP_FCL_HAS_OCTOMAP
49 #define OCTOMAP_VERSION_AT_LEAST(x, y, z) \
50 (OCTOMAP_MAJOR_VERSION > x || \
51 (OCTOMAP_MAJOR_VERSION >= x && \
52 (OCTOMAP_MINOR_VERSION > y || \
53 (OCTOMAP_MINOR_VERSION >= y && OCTOMAP_PATCH_VERSION >= z))))
55 #define OCTOMAP_VERSION_AT_MOST(x, y, z) \
56 (OCTOMAP_MAJOR_VERSION < x || \
57 (OCTOMAP_MAJOR_VERSION <= x && \
58 (OCTOMAP_MINOR_VERSION < y || \
59 (OCTOMAP_MINOR_VERSION <= y && OCTOMAP_PATCH_VERSION <= z))))
60 #endif // HPP_FCL_HAS_OCTOMAP
66 typedef Eigen::Matrix<FCL_REAL, 3, 1>
Vec3f;
67 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1>
VecXf;
68 typedef Eigen::Matrix<FCL_REAL, 3, 3>
Matrix3f;
69 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3>
Matrixx3f;
70 typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3>
Matrixx3i;
71 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic>
MatrixXf;
122 return vids[0] == other.
vids[0] && vids[1] == other.
vids[1] &&
123 vids[2] == other.
vids[2];
160 return vids[0] == other.
vids[0] && vids[1] == other.
vids[1] &&
161 vids[2] == other.
vids[2] && vids[3] == other.
vids[3];
165 return !(*
this == other);
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 > VecXf
void set(index_type p1, index_type p2, index_type p3)
Set the vertex indices of the triangle.
GJKConvergenceCriterionType
Wether the convergence criterion is scaled on the norm of the solution or not.
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Triangle(index_type p1, index_type p2, index_type p3)
Create a triangle with given vertex indices.
bool operator!=(const Triangle &other) const
void set(index_type p0, index_type p1, index_type p2, index_type p3)
Set the vertex indices of the quadrilateral.
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic > MatrixXf
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
index_type operator[](index_type i) const
Access the triangle index.
index_type operator[](index_type i) const
@access the quadrilateral index
GJKConvergenceCriterion
Which convergence criterion is used to stop the algorithm (when the shapes are not in collision)....
bool operator==(const Triangle &other) const
index_type & operator[](index_type i)
index_type & operator[](index_type i)
Quadrilateral with 4 indices for points.
Eigen::Vector2i support_func_guess_t
Triangle()
Default constructor.
bool operator==(const Quadrilateral &other) const
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
index_type vids[3]
indices for each vertex of triangle
GJKInitialGuess
Initial guess to use for the GJK algorithm DefaultGuess: Vec3f(1, 0, 0) CachedGuess: previous vector ...
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > Matrixx3f
Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3)
bool operator!=(const Quadrilateral &other) const
Triangle with 3 indices for points.
GJKVariant
Variant to use for the GJK algorithm.
hpp-fcl
Author(s):
autogenerated on Fri Aug 2 2024 02:45:13