#include <boost/filesystem.hpp>
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/BVH/BVH_model.h>
#include <hpp/fcl/collision_utility.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/collision_func_matrix.h>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/mesh_loader/assimp.h>
#include "utility.h"
#include "fcl_resources/config.h"

Include dependency graph for profiling.cpp:

Classes
struct	Geometry

struct	Results

Macros
#define	CHECK_PARAM_NB(NB, NAME)

#define	CREATE_SHAPE_2(var, Name)

#define	OUT(x) if (verbose) std::cout << x << std::endl

Functions
void	collide (const std::vector< Transform3f > &tf, const CollisionGeometry o1, const CollisionGeometry o2, const CollisionRequest &request, Results &results)

void	handleParam (int &iarg, const int &argc, char **argv, CollisionRequest &request)

int	main (int argc, char **argv)

Geometry	makeGeomFromParam (int &iarg, const int &argc, char **argv)

template<typename BV >
CollisionGeometryPtr_t	meshToGeom (const std::string &filename, const Vec3f &scale=Vec3f(1, 1, 1))

template<typename BV >
CollisionGeometryPtr_t	objToGeom (const std::string &filename)

void	printResultHeaders ()

void	printResults (const Geometry &g1, const Geometry &g2, const Results &rs)

bool	supportedPair (const CollisionGeometry o1, const CollisionGeometry o2)

Variables
FCL_REAL	limit = 20

CollisionFunctionMatrix	lookupTable

size_t	Ntransform = 1

const char *	sep = ", "

bool	verbose = false

Macro Definition Documentation

◆ CHECK_PARAM_NB

#define CHECK_PARAM_NB	(	NB,
		NAME
	)

Value:

if (iarg + NB >= argc) \

throw std::invalid_argument(#NAME " requires " #NB " numbers")

Definition at line 125 of file profiling.cpp.

◆ CREATE_SHAPE_2

#define CREATE_SHAPE_2	(	var,
		Name
	)

Value:

CHECK_PARAM_NB(2, Name);                                         \
  var.reset(new Name(atof(argv[iarg + 1]), atof(argv[iarg + 2]))); \
  iarg += 3;

Definition at line 153 of file profiling.cpp.

◆ OUT

#define OUT ( x ) if (verbose) std::cout << x << std::endl

Definition at line 123 of file profiling.cpp.

Function Documentation

◆ collide()

void collide	(	const std::vector< Transform3f > &	tf,
		const CollisionGeometry *	o1,
		const CollisionGeometry *	o2,
		const CollisionRequest &	request,
		Results &	results
	)

Definition at line 85 of file profiling.cpp.

◆ handleParam()

void handleParam	(	int &	iarg,
		const int &	argc,
		char **	argv,
		CollisionRequest &	request
	)

Definition at line 128 of file profiling.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 223 of file profiling.cpp.

◆ makeGeomFromParam()

Geometry makeGeomFromParam	(	int &	iarg,
		const int &	argc,
		char **	argv
	)

Definition at line 157 of file profiling.cpp.

◆ meshToGeom()

template<typename BV >

CollisionGeometryPtr_t meshToGeom	(	const std::string &	filename,
		const Vec3f &	scale = `Vec3f(1, 1, 1)`
	)

Definition at line 62 of file profiling.cpp.

◆ objToGeom()

template<typename BV >

CollisionGeometryPtr_t objToGeom ( const std::string & filename )

Definition at line 46 of file profiling.cpp.

◆ printResultHeaders()

void printResultHeaders ( )

Definition at line 101 of file profiling.cpp.

◆ printResults()

void printResults	(	const Geometry &	g1,
		const Geometry &	g2,
		const Results &	rs
	)

Definition at line 107 of file profiling.cpp.

◆ supportedPair()

bool supportedPair	(	const CollisionGeometry *	o1,
		const CollisionGeometry *	o2
	)

Definition at line 33 of file profiling.cpp.

Variable Documentation

◆ limit

FCL_REAL limit = 20

Definition at line 120 of file profiling.cpp.

◆ lookupTable

CollisionFunctionMatrix lookupTable

Definition at line 32 of file profiling.cpp.

◆ Ntransform

size_t Ntransform = 1

Definition at line 116 of file profiling.cpp.

◆ sep

const char* sep = ", "

Definition at line 99 of file profiling.cpp.

◆ verbose

bool verbose = false

Definition at line 121 of file profiling.cpp.

Classes

Macros

Functions

Variables