test_fcl_utility.h File Reference

#include "fcl/math/transform.h"
#include "fcl/collision_data.h"
#include "fcl/collision_object.h"
#include <sys/time.h>

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Classes
struct	fcl::CollisionData
	Collision data stores the collision request and the result given by collision algorithm. More...
struct	fcl::DistanceData
	Distance data stores the distance request and the result given by distance algorithm. More...
struct	fcl::DistanceRes
	@ brief Structure for minimum distance between two meshes and the corresponding nearest point pair More...
class	fcl::Timer
Namespaces
namespace	fcl
	Main namespace.
Functions
bool	fcl::defaultCollisionFunction (CollisionObject *o1, CollisionObject *o2, void *cdata)
	Default collision callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now.
bool	fcl::defaultDistanceFunction (CollisionObject *o1, CollisionObject *o2, void *cdata, FCL_REAL &dist)
	Default distance callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now. also return dist, i.e. the bmin distance till now.
void	fcl::generateRandomTransform (FCL_REAL extents[6], Transform3f &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].
void	fcl::generateRandomTransforms (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::size_t n)
	Generate n random transforms whose translations are constrained by extents.
void	fcl::generateRandomTransforms (FCL_REAL extents[6], FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::vector< Transform3f > &transforms, std::vector< Transform3f > &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.
void	fcl::generateRandomTransforms_ccd (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::vector< Transform3f > &transforms2, FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::size_t n, const std::vector< Vec3f > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3f > &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.
void	fcl::loadOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
	Load an obj mesh file.