profiling.cpp File Reference

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

Include dependency graph for profiling.cpp:

Go to the source code of this file.

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< Transform3s > &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 Vec3s &scale=Vec3s(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
CoalScalar	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< Transform3s > &	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 Vec3s &	scale = Vec3s(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

CoalScalar 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.