data_types.h File Reference

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <hpp/fcl/config.hh>

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Classes
struct	hpp::fcl::Quadrilateral
	Quadrilateral with 4 indices for points. More...
class	hpp::fcl::Triangle
	Triangle with 3 indices for points. More...

Namespaces
	hpp
	Main namespace.
	hpp::fcl

Typedefs
typedef double	hpp::fcl::FCL_REAL
typedef Eigen::Matrix< FCL_REAL, 3, 3 >	hpp::fcl::Matrix3f
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 >	hpp::fcl::Matrixx3f
typedef Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 >	hpp::fcl::Matrixx3i
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic >	hpp::fcl::MatrixXf
typedef Eigen::Vector2i	hpp::fcl::support_func_guess_t
typedef Eigen::Matrix< FCL_REAL, 3, 1 >	hpp::fcl::Vec3f
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 >	hpp::fcl::VecXf

Enumerations
enum	hpp::fcl::GJKConvergenceCriterion { hpp::fcl::VDB, hpp::fcl::DualityGap, hpp::fcl::Hybrid }
	Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG. More...
enum	hpp::fcl::GJKConvergenceCriterionType { hpp::fcl::Relative, hpp::fcl::Absolute }
	Wether the convergence criterion is scaled on the norm of the solution or not. More...
enum	hpp::fcl::GJKInitialGuess { hpp::fcl::DefaultGuess, hpp::fcl::CachedGuess, hpp::fcl::BoundingVolumeGuess }
	Initial guess to use for the GJK algorithm DefaultGuess: Vec3f(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes. More...
enum	hpp::fcl::GJKVariant { hpp::fcl::DefaultGJK, hpp::fcl::NesterovAcceleration }
	Variant to use for the GJK algorithm. More...