fcl Namespace Reference

Main namespace. More...

Namespaces
	detail
	test
	time
	Namespace containing time datatypes and time operations.

Classes
class	AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
class	aligned_allocator_cpp11
	Aligned allocator that is compatible with c++11. More...
class	Box
	Center at zero point, axis aligned box. More...
class	BroadPhaseCollisionManager
	Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...
class	BroadPhaseContinuousCollisionManager
	Base class for broad phase continuous collision. It helps to accelerate the continuous collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...
class	BVHModel
	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
class	BVMotionBoundVisitor
	Compute the motion bound for a bounding volume, given the closest direction n between two query objects. More...
struct	BVNode
	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...
struct	BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...
class	Capsule
	Center at zero point capsule. More...
class	CollisionGeometry
	The geometry for the object for collision or distance computation. More...
class	CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...
struct	CollisionRequest
	Parameters for performing collision request. More...
struct	CollisionResult
	collision result More...
class	Cone
	Center at zero cone. More...
struct	constants
struct	Contact
	Contact information returned by collision. More...
struct	ContactPoint
	Minimal contact information returned by collision. More...
class	ContinuousCollisionObject
	the object for continuous collision or distance computation, contains the geometry and the motion information More...
struct	ContinuousCollisionRequest
struct	ContinuousCollisionResult
	continuous collision result More...
class	Convex
	A convex polytope. More...
class	ConvexTester
struct	CostSource
	Cost source describes an area with a cost. The area is described by an AABB region. More...
class	Cylinder
	Center at zero cylinder. More...
struct	DefaultCollisionData
	Collision data for use with the DefaultCollisionFunction. It stores the collision request and the result given by collision algorithm (and stores the conclusion of whether further evaluation of the broadphase collision manager has been deemed unnecessary). More...
struct	DefaultContinuousCollisionData
	Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request and the result given by the collision algorithm (and stores the conclusion of whether further evaluation of the broadphase collision manager has been deemed unnecessary). More...
struct	DefaultDistanceData
	Distance data for use with the DefaultDistanceFunction. It stores the distance request and the result given by distance algorithm (and stores the conclusion of whether further evaluation of the broadphase collision manager has been deemed unnecessary). More...
struct	DistanceRequest
	request to the distance computation More...
struct	DistanceResult
	distance result More...
class	DummyCollisionObject
	Dummy collision object with a point AABB More...
class	DynamicAABBTreeCollisionManager
class	DynamicAABBTreeCollisionManager_Array
class	Ellipsoid
	Center at zero point ellipsoid. More...
class	Exception
struct	GetDistancesImpl
struct	GetDistancesImpl< S, 5 >
struct	GetDistancesImpl< S, 6 >
struct	GetDistancesImpl< S, 9 >
struct	GetNodeTypeImpl
struct	GetNodeTypeImpl< AABB< S > >
struct	GetNodeTypeImpl< KDOP< S, 16 > >
struct	GetNodeTypeImpl< KDOP< S, 18 > >
struct	GetNodeTypeImpl< KDOP< S, 24 > >
struct	GetNodeTypeImpl< kIOS< S > >
struct	GetNodeTypeImpl< OBB< S > >
struct	GetNodeTypeImpl< OBBRSS< S > >
struct	GetNodeTypeImpl< RSS< S > >
struct	GetOrientationImpl
struct	GetOrientationImpl< S, OBB< S > >
struct	GetOrientationImpl< S, OBBRSS< S > >
struct	GetOrientationImpl< S, RSS< S > >
class	Halfspace
	Half Space: this is equivalent to the Planed in ODE. The separation plane is defined as n * x = d. Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. More...
struct	IMatrix3
class	InterpMotion
	Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref. More...
struct	Interval
	Interval class for [a, b]. More...
class	IntervalTreeCollisionManager
	Collision manager based on interval tree. More...
struct	IntervalTreeCollisionManager< S >
	SAP end point. More...
struct	IVector3
class	KDOP
	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23. More...
class	kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...
class	LibSVMClassifier
struct	MakeParentRelativeRecurseImpl
struct	MakeParentRelativeRecurseImpl< S, OBB< S > >
struct	MakeParentRelativeRecurseImpl< S, OBBRSS< S > >
struct	MakeParentRelativeRecurseImpl< S, RSS< S > >
class	MotionBase
class	NaiveCollisionManager
	Brute force N-body collision manager. More...
class	OBB
	Oriented bounding box class. More...
class	OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
class	Plane
	Infinite plane. More...
class	RNG
	Random number generation. An instance of this class cannot be used by multiple threads at once (member functions are not const). However, the constructor is thread safe and different instances can be used safely in any number of threads. It is also guaranteed that all created instances will have a different random seed. More...
class	RSS
	A class for rectangle swept sphere bounding volume. More...
class	SamplerBase
class	SamplerR
class	SamplerSE2
class	SamplerSE2_disk
class	SamplerSE3Euler
class	SamplerSE3Euler_ball
class	SamplerSE3Quat
class	SamplerSE3Quat_ball
class	SaPCollisionManager
	Rigorous SAP collision manager. More...
class	SaPCollisionManager< S >
	Functor to help unregister one object. More...
class	ScrewMotion
class	ShapeBase
	Base class for all basic geometric shapes. More...
struct	SortByXLow
	Functor sorting objects according to the AABB lower x bound. More...
struct	SortByYLow
	Functor sorting objects according to the AABB lower y bound. More...
struct	SortByZLow
	Functor sorting objects according to the AABB lower z bound. More...
class	SpatialHashingCollisionManager
	spatial hashing collision mananger More...
class	Sphere
	Center at zero point sphere. More...
class	SplineMotion
class	SSaPCollisionManager
	Simple SAP collision manager. More...
class	TaylorModel
	TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder. All the operations on two Taylor models assume their time intervals are the same. More...
class	TBVMotionBoundVisitor
struct	TBVMotionBoundVisitorVisitImpl
struct	TBVMotionBoundVisitorVisitImpl< S, RSS< S >, InterpMotion< S > >
	Compute the motion bound for a bounding volume along a given direction n according to mu < |v * n| + ||w x n||(r + max(||ci*||)) where ||ci*|| = ||R0(ci) x w||. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...
struct	TBVMotionBoundVisitorVisitImpl< S, RSS< S >, ScrewMotion< S > >
	Compute the motion bound for a bounding volume along a given direction n according to mu < |v * n| + ||w x n||(r + max(||ci*||)) where ||ci*|| = ||R0(ci) x w||. w is the angular axis (normalized) and ci are the endpoints of the generator primitives of RSS. Notice that all bv parameters are in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...
struct	TBVMotionBoundVisitorVisitImpl< S, RSS< S >, SplineMotion< S > >
struct	TBVMotionBoundVisitorVisitImpl< S, RSS< S >, TranslationMotion< S > >
	Compute the motion bound for a bounding volume along a given direction n. More...
struct	TimeInterval
class	TMatrix3
class	TranslationMotion
class	Triangle
	Triangle with 3 indices for points. More...
class	TriangleMotionBoundVisitor
struct	TriangleMotionBoundVisitorVisitImpl
struct	TriangleMotionBoundVisitorVisitImpl< S, InterpMotion< S > >
	Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...
struct	TriangleMotionBoundVisitorVisitImpl< S, ScrewMotion< S > >
	Compute the motion bound for a triangle along a given direction n according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / |w|. w is the angular velocity and ci are the triangle vertex coordinates. Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame) More...
struct	TriangleMotionBoundVisitorVisitImpl< S, SplineMotion< S > >
struct	TriangleMotionBoundVisitorVisitImpl< S, TranslationMotion< S > >
	Compute the motion bound for a triangle along a given direction n. More...
class	TriangleP
	Triangle stores the points instead of only indices of points. More...
class	TVector3
class	Variance3
	Class for variance matrix in 3d. More...

Typedefs
using	AABBd = AABB< double >
using	AABBf = AABB< float >
template<typename _Key , typename _Tp , typename _Compare = std::less<_Key>>
using	aligned_map = std::map< _Key, _Tp, _Compare, Eigen::aligned_allocator< std::pair< const _Key, _Tp > >>
template<typename _Tp >
using	aligned_vector = std::vector< _Tp, Eigen::aligned_allocator< _Tp > >
template<typename S >
using	AngleAxis = Eigen::AngleAxis< S >
using	AngleAxisd = AngleAxis< double >
using	AngleAxisf = AngleAxis< float >
using	Boxd = Box< double >
using	Boxf = Box< float >
using	BroadPhaseCollisionManagerd = BroadPhaseCollisionManager< double >
using	BroadPhaseCollisionManagerf = BroadPhaseCollisionManager< float >
using	BroadPhaseContinuousCollisionManagerd = BroadPhaseContinuousCollisionManager< double >
using	BroadPhaseContinuousCollisionManagerf = BroadPhaseContinuousCollisionManager< float >
using	Capsuled = Capsule< double >
using	Capsulef = Capsule< float >
template<typename S >
using	CollisionCallBack = bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata)
	Callback for collision between two objects. Return value is whether can stop now. More...
using	CollisionGeometryd = CollisionGeometry< double >
using	CollisionGeometryf = CollisionGeometry< float >
using	CollisionObjectd = CollisionObject< double >
using	CollisionObjectf = CollisionObject< float >
using	CollisionRequestd = CollisionRequest< double >
using	CollisionRequestf = CollisionRequest< float >
using	CollisionResultd = CollisionResult< double >
using	CollisionResultf = CollisionResult< float >
using	Coned = Cone< double >
using	Conef = Cone< float >
using	constantsd = constants< double >
using	constantsf = constants< float >
using	Contactd = Contact< double >
using	Contactf = Contact< float >
using	ContactPointd = ContactPoint< double >
using	ContactPointf = ContactPoint< float >
template<typename S >
using	ContinuousCollisionCallBack = bool(*)(ContinuousCollisionObject< S > *o1, ContinuousCollisionObject< S > *o2, void *cdata)
	Callback for continuous collision between two objects. Return value is whether can stop now. More...
using	ContinuousCollisionObjectd = ContinuousCollisionObject< double >
using	ContinuousCollisionObjectf = ContinuousCollisionObject< float >
using	ContinuousCollisionRequestd = ContinuousCollisionRequest< double >
using	ContinuousCollisionRequestf = ContinuousCollisionRequest< float >
using	ContinuousCollisionResultd = ContinuousCollisionResult< double >
using	ContinuousCollisionResultf = ContinuousCollisionResult< float >
template<typename S >
using	ContinuousDistanceCallBack = bool(*)(ContinuousCollisionObject< S > *o1, ContinuousCollisionObject< S > *o2, void *cdata, S &dist)
	Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now. More...
using	Convexd = Convex< double >
using	Convexf = Convex< float >
using	CostSourced = CostSource< double >
using	CostSourcef = CostSource< float >
using	Cylinderd = Cylinder< double >
using	Cylinderf = Cylinder< float >
template<typename S >
using	DistanceCallBack = bool(*)(CollisionObject< S > *o1, CollisionObject< S > *o2, void *cdata, S &dist)
	Callback for distance between two objects, Return value is whether can stop now, also return the minimum distance till now. More...
using	DistanceRequestd = DistanceRequest< double >
using	DistanceRequestf = DistanceRequest< float >
using	DistanceResultd = DistanceResult< double >
using	DistanceResultf = DistanceResult< float >
using	DynamicAABBTreeCollisionManager_Arrayd = DynamicAABBTreeCollisionManager_Array< double >
using	DynamicAABBTreeCollisionManager_Arrayf = DynamicAABBTreeCollisionManager_Array< float >
using	DynamicAABBTreeCollisionManagerd = DynamicAABBTreeCollisionManager< double >
using	DynamicAABBTreeCollisionManagerf = DynamicAABBTreeCollisionManager< float >
using	Ellipsoidd = Ellipsoid< double >
using	Ellipsoidf = Ellipsoid< float >
typedef FCL_DEPRECATED std::int32_t	FCL_INT32
typedef FCL_DEPRECATED std::int64_t	FCL_INT64
typedef FCL_DEPRECATED double	FCL_REAL
typedef FCL_DEPRECATED std::uint32_t	FCL_UINT32
typedef FCL_DEPRECATED std::uint64_t	FCL_UINT64
using	Halfspaced = Halfspace< double >
using	Halfspacef = Halfspace< float >
using	int32 = std::int32_t
using	int64 = std::int64_t
using	IntervalTreeCollisionManagerd = IntervalTreeCollisionManager< double >
using	IntervalTreeCollisionManagerf = IntervalTreeCollisionManager< float >
using	intptr_t = std::intptr_t
template<std::size_t N>
using	KDOPd = KDOP< double, N >
template<std::size_t N>
using	KDOPf = KDOP< float, N >
using	kIOSd = kIOS< double >
using	kIOSf = kIOS< float >
template<typename S >
using	Matrix3 = Eigen::Matrix< S, 3, 3 >
using	Matrix3d = Matrix3< double >
using	Matrix3f = Matrix3< float >
using	MotionBased = MotionBase< double >
using	MotionBasef = MotionBase< float >
template<typename S >
using	MotionBasePtr = std::shared_ptr< MotionBase< S > >
using	NaiveCollisionManagerd = NaiveCollisionManager< double >
using	NaiveCollisionManagerf = NaiveCollisionManager< float >
using	OBBd = OBB< double >
using	OBBf = OBB< float >
using	OBBRSSd = OBBRSS< double >
using	OBBRSSf = OBBRSS< float >
using	Planed = Plane< double >
using	Planef = Plane< float >
template<typename S >
using	Quaternion = Eigen::Quaternion< S >
using	Quaterniond = Quaternion< double >
using	Quaternionf = Quaternion< float >
using	RNGd = RNG< double >
using	RNGf = RNG< float >
using	RSSd = RSS< double >
using	RSSf = RSS< float >
template<std::size_t N>
using	SamplerRd = SamplerR< double, N >
template<std::size_t N>
using	SamplerRf = SamplerR< float, N >
using	SamplerSE2_diskd = SamplerSE2_disk< double >
using	SamplerSE2_diskf = SamplerSE2_disk< float >
using	SamplerSE2d = SamplerSE2< double >
using	SamplerSE2f = SamplerSE2< float >
using	SamplerSE3Euler_balld = SamplerSE3Euler_ball< double >
using	SamplerSE3Euler_ballf = SamplerSE3Euler_ball< float >
using	SamplerSE3Eulerd = SamplerSE3Euler< double >
using	SamplerSE3Eulerf = SamplerSE3Euler< float >
using	SamplerSE3Quat_balld = SamplerSE3Quat_ball< double >
using	SamplerSE3Quat_ballf = SamplerSE3Quat_ball< float >
using	SamplerSE3Quatd = SamplerSE3Quat< double >
using	SamplerSE3Quatf = SamplerSE3Quat< float >
using	SaPCollisionManagerd = SaPCollisionManager< double >
using	SaPCollisionManagerf = SaPCollisionManager< float >
using	ShapeBased = ShapeBase< double >
using	ShapeBasef = ShapeBase< float >
template<typename HashTable = detail::SimpleHashTable<AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>
using	SpatialHashingCollisionManagerd = SpatialHashingCollisionManager< double, HashTable >
template<typename HashTable = detail::SimpleHashTable<AABB<float>, CollisionObject<float>*, detail::SpatialHash<float>>>
using	SpatialHashingCollisionManagerf = SpatialHashingCollisionManager< float, HashTable >
using	Sphered = Sphere< double >
using	Spheref = Sphere< float >
using	SSaPCollisionManagerd = SSaPCollisionManager< double >
using	SSaPCollisionManagerf = SSaPCollisionManager< float >
template<typename S >
using	Transform3 = Eigen::Transform< S, 3, Eigen::Isometry >
using	Transform3d = Transform3< double >
using	Transform3f = Transform3< float >
template<typename S >
using	Translation3 = Eigen::Translation< S, 3 >
using	Translation3d = Translation3< double >
using	Translation3f = Translation3< float >
using	TranslationMotiond = TranslationMotion< double >
using	TranslationMotionf = TranslationMotion< float >
using	TrianglePd = TriangleP< double >
using	TrianglePf = TriangleP< float >
using	uint32 = std::uint32_t
using	uint64 = std::uint64_t
using	uintptr_t = std::uintptr_t
using	Variance3d = Variance3< double >
using	Variance3f = Variance3< float >
template<typename S >
using	Vector2 = Eigen::Matrix< S, 2, 1 >
template<typename S >
using	Vector3 = Eigen::Matrix< S, 3, 1 >
using	Vector3d = Vector3< double >
using	Vector3f = Vector3< float >
template<typename S >
using	Vector6 = Eigen::Matrix< S, 6, 1 >
template<typename S >
using	Vector7 = Eigen::Matrix< S, 7, 1 >
template<typename S , int N>
using	VectorN = Eigen::Matrix< S, N, 1 >
template<int N>
using	VectorNd = VectorN< double, N >
template<int N>
using	VectorNf = VectorN< float, N >
template<typename S >
using	VectorX = Eigen::Matrix< S, Eigen::Dynamic, 1 >
using	VectorXd = VectorX< double >
using	VectorXf = VectorX< float >

Enumerations
enum	BVHBuildState {   BVH_BUILD_STATE_EMPTY, BVH_BUILD_STATE_BEGUN, BVH_BUILD_STATE_PROCESSED, BVH_BUILD_STATE_UPDATE_BEGUN,   BVH_BUILD_STATE_UPDATED, BVH_BUILD_STATE_REPLACE_BEGUN }
	States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... | |-> update_begun -> updated -> ..... More...
enum	BVHModelType { BVH_MODEL_UNKNOWN, BVH_MODEL_TRIANGLES, BVH_MODEL_POINTCLOUD }
	BVH model type. More...
enum	BVHReturnCode {   BVH_OK = 0, BVH_ERR_MODEL_OUT_OF_MEMORY = -1, BVH_ERR_BUILD_OUT_OF_SEQUENCE = -2, BVH_ERR_BUILD_EMPTY_MODEL = -3,   BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -4, BVH_ERR_UNSUPPORTED_FUNCTION = -5, BVH_ERR_UNUPDATED_MODEL = -6, BVH_ERR_INCORRECT_DATA = -7,   BVH_ERR_UNKNOWN = -8 }
	Error code for BVH. More...
enum	CCDMotionType { CCDM_TRANS, CCDM_LINEAR, CCDM_SCREW, CCDM_SPLINE }
enum	CCDSolverType { CCDC_NAIVE, CCDC_CONSERVATIVE_ADVANCEMENT, CCDC_RAY_SHOOTING, CCDC_POLYNOMIAL_SOLVER }
enum	FinalizeModel { FinalizeModel::DO, FinalizeModel::DONT }
	enum class used to indicate whether we simply want to add more primitives to the model or finalize it. More...
enum	GJKSolverType { GST_LIBCCD, GST_INDEP }
	Type of narrow phase GJK solver. More...
enum	MatrixCompareType { MatrixCompareType::absolute, MatrixCompareType::relative }
enum	NODE_TYPE {   BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS,   BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18,   BV_KDOP24, GEOM_BOX, GEOM_SPHERE, GEOM_ELLIPSOID,   GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX,   GEOM_PLANE, GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE,   NODE_COUNT }
	traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, halfspace, triangle), and octree More...
enum	OBJECT_TYPE {   OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE,   OT_COUNT }
	object type: BVH (mesh, points), basic geometry, octree More...

Functions
template<typename BV >
int	addTriangles (BVHModel< BV > &model, const std::vector< Vector3< typename BV::S >> &points, const std::vector< Triangle > &tri_indices, FinalizeModel finalize_model)
template<typename S >
FCL_EXPORT void	axisFromEigen (const Matrix3< S > &eigenV, const Vector3< S > &eigenS, Matrix3< S > &axis)
template<typename S >
FCL_EXPORT void	axisFromEigen (const Matrix3< S > &eigenV, const Vector3< S > &eigenS, Transform3< S > &tf)
template void	axisFromEigen (const Matrix3d &eigenV, const Vector3d &eigenS, Matrix3d &axis)
template void	axisFromEigen (const Matrix3d &eigenV, const Vector3d &eigenS, Transform3d &tf)
template Interval< double >	bound (const Interval< double > &i, const Interval< double > &other)
template Interval< double >	bound (const Interval< double > &i, double v)
template<typename S >
FCL_EXPORT Interval< S >	bound (const Interval< S > &i, const Interval< S > &other)
template<typename S >
Interval< S >	bound (const Interval< S > &i, const Interval< S > &other)
template<typename S >
FCL_EXPORT Interval< S >	bound (const Interval< S > &i, S v)
template<typename S >
Interval< S >	bound (const Interval< S > &i, S v)
template IVector3< double >	bound (const IVector3< double > &i, const IVector3< double > &v)
template IVector3< double >	bound (const IVector3< double > &i, const Vector3< double > &v)
template<typename S >
FCL_EXPORT IVector3< S >	bound (const IVector3< S > &i, const IVector3< S > &v)
template<typename S >
IVector3< S >	bound (const IVector3< S > &i, const IVector3< S > &v)
template<typename S >
FCL_EXPORT IVector3< S >	bound (const IVector3< S > &i, const Vector3< S > &v)
template<typename S >
IVector3< S >	bound (const IVector3< S > &i, const Vector3< S > &v)
template<typename S , typename BV >
FCL_EXPORT void	BVHExpand (BVHModel< BV > &model, const Variance3< S > *ucs, S r)
	Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node. More...
template void	BVHExpand (BVHModel< OBB< double >> &model, const Variance3< double > *ucs, double r)
template<typename S >
FCL_EXPORT void	BVHExpand (BVHModel< OBB< S >> &model, const Variance3< S > *ucs, S r=1.0)
	Expand the BVH bounding boxes according to the corresponding variance information, for OBB. More...
template void	BVHExpand (BVHModel< RSS< double >> &model, const Variance3< double > *ucs, double r)
template<typename S >
FCL_EXPORT void	BVHExpand (BVHModel< RSS< S >> &model, const Variance3< S > *ucs, S r=1.0)
	Expand the BVH bounding boxes according to the corresponding variance information, for RSS. More...
template<typename S >
FCL_EXPORT void	circumCircleComputation (const Vector3< S > &a, const Vector3< S > &b, const Vector3< S > &c, Vector3< S > &center, S &radius)
	Compute the center and radius for a triangle's circumcircle. More...
template void	circumCircleComputation (const Vector3d &a, const Vector3d &b, const Vector3d &c, Vector3d &center, double &radius)
template void	clipToRange (double &val, double a, double b)
template<typename S >
FCL_EXPORT void	clipToRange (S &val, S a, S b)
	Clip value between a and b. More...
template<typename S >
void	clipToRange (S &val, S a, S b)
	Clip value between a and b. More...
template FCL_EXPORT std::size_t	collide (const CollisionGeometry< double > *o1, const Transform3< double > &tf1, const CollisionGeometry< double > *o2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
template<typename S >
FCL_EXPORT std::size_t	collide (const CollisionGeometry< S > *o1, const Transform3< S > &tf1, const CollisionGeometry< S > *o2, const Transform3< S > &tf2, const CollisionRequest< S > &request, CollisionResult< S > &result)
template<typename S , typename NarrowPhaseSolver >
FCL_EXPORT std::size_t	collide (const CollisionGeometry< S > *o1, const Transform3< S > &tf1, const CollisionGeometry< S > *o2, const Transform3< S > &tf2, const NarrowPhaseSolver *nsolver_, const CollisionRequest< S > &request, CollisionResult< S > &result)
template FCL_EXPORT std::size_t	collide (const CollisionObject< double > *o1, const CollisionObject< double > *o2, const CollisionRequest< double > &request, CollisionResult< double > &result)
template<typename S >
FCL_EXPORT std::size_t	collide (const CollisionObject< S > *o1, const CollisionObject< S > *o2, const CollisionRequest< S > &request, CollisionResult< S > &result)
	Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects. More...
template<typename S , typename NarrowPhaseSolver >
FCL_EXPORT std::size_t	collide (const CollisionObject< S > *o1, const CollisionObject< S > *o2, const NarrowPhaseSolver *nsolver, const CollisionRequest< S > &request, CollisionResult< S > &result)
template double	collide (const ContinuousCollisionObject< double > *o1, const ContinuousCollisionObject< double > *o2, const ContinuousCollisionRequest< double > &request, ContinuousCollisionResult< double > &result)
template<typename S >
FCL_EXPORT S	collide (const ContinuousCollisionObject< S > *o1, const ContinuousCollisionObject< S > *o2, const ContinuousCollisionRequest< S > &request, ContinuousCollisionResult< S > &result)
template<typename S , int M, int N>
FCL_EXPORT VectorN< S, M+N >	combine (const VectorN< S, M > &v1, const VectorN< S, N > &v2)
template<typename DerivedA , typename DerivedB >
::testing::AssertionResult	CompareMatrices (const Eigen::MatrixBase< DerivedA > &m1, const Eigen::MatrixBase< DerivedB > &m2, double tolerance=0.0, MatrixCompareType compare_type=MatrixCompareType::absolute)
template bool	comparePenDepth (const ContactPoint< double > &_cp1, const ContactPoint< double > &_cp2)
template<typename S >
FCL_EXPORT bool	comparePenDepth (const ContactPoint< S > &_cp1, const ContactPoint< S > &_cp2)
	Return true if _cp1's penentration depth is less than _cp2's. More...
template<typename S >
bool	comparePenDepth (const ContactPoint< S > &_cp1, const ContactPoint< S > &_cp2)
	Return true if _cp1's penentration depth is less than _cp2's. More...
template<typename BV , typename Shape >
FCL_EXPORT void	computeBV (const Shape &s, const Transform3< typename BV::S > &tf, BV &bv)
	calculate a bounding volume for a shape in a specific configuration More...
template void	computeVertices (const OBB< double > &b, Vector3< double > vertices[8])
template<typename S >
FCL_EXPORT void	computeVertices (const OBB< S > &b, Vector3< S > vertices[8])
	Compute the 8 vertices of a OBB. More...
template<typename S >
void	computeVertices (const OBB< S > &b, Vector3< S > vertices[8])
	Compute the 8 vertices of a OBB. More...
template void	constructBox (const AABB< double > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const AABB< double > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const AABB< S > &bv, Box< S > &box, Transform3< S > &tf)
	construct a box shape (with a configuration) from a given bounding volume More...
template<typename S >
void	constructBox (const AABB< S > &bv, Box< S > &box, Transform3< S > &tf)
	construct a box shape (with a configuration) from a given bounding volume More...
template<typename S >
FCL_EXPORT void	constructBox (const AABB< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const AABB< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template void	constructBox (const KDOP< double, 16 > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const KDOP< double, 16 > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const KDOP< double, 18 > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const KDOP< double, 18 > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const KDOP< double, 24 > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const KDOP< double, 24 > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const KDOP< S, 16 > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const KDOP< S, 16 > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const KDOP< S, 16 > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const KDOP< S, 16 > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const KDOP< S, 18 > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const KDOP< S, 18 > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const KDOP< S, 18 > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const KDOP< S, 18 > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const KDOP< S, 24 > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const KDOP< S, 24 > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const KDOP< S, 24 > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const KDOP< S, 24 > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template void	constructBox (const kIOS< double > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const kIOS< double > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const kIOS< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const kIOS< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const kIOS< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const kIOS< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template void	constructBox (const OBB< double > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const OBB< double > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const OBB< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const OBB< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const OBB< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const OBB< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template void	constructBox (const OBBRSS< double > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const OBBRSS< double > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const OBBRSS< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const OBBRSS< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const OBBRSS< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const OBBRSS< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template void	constructBox (const RSS< double > &bv, Box< double > &box, Transform3< double > &tf)
template void	constructBox (const RSS< double > &bv, const Transform3< double > &tf_bv, Box< double > &box, Transform3< double > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const RSS< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const RSS< S > &bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
FCL_EXPORT void	constructBox (const RSS< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template<typename S >
void	constructBox (const RSS< S > &bv, const Transform3< S > &tf_bv, Box< S > &box, Transform3< S > &tf)
template double	continuousCollide (const CollisionGeometry< double > *o1, const MotionBase< double > *motion1, const CollisionGeometry< double > *o2, const MotionBase< double > *motion2, const ContinuousCollisionRequest< double > &request, ContinuousCollisionResult< double > &result)
template double	continuousCollide (const CollisionGeometry< double > *o1, const Transform3< double > &tf1_beg, const Transform3< double > &tf1_end, const CollisionGeometry< double > *o2, const Transform3< double > &tf2_beg, const Transform3< double > &tf2_end, const ContinuousCollisionRequest< double > &request, ContinuousCollisionResult< double > &result)
template<typename S >
FCL_EXPORT S	continuousCollide (const CollisionGeometry< S > *o1, const MotionBase< S > *motion1, const CollisionGeometry< S > *o2, const MotionBase< S > *motion2, const ContinuousCollisionRequest< S > &request, ContinuousCollisionResult< S > &result)
	continous collision checking between two objects More...
template<typename S >
FCL_EXPORT S	continuousCollide (const CollisionGeometry< S > *o1, const Transform3< S > &tf1_beg, const Transform3< S > &tf1_end, const CollisionGeometry< S > *o2, const Transform3< S > &tf2_beg, const Transform3< S > &tf2_end, const ContinuousCollisionRequest< S > &request, ContinuousCollisionResult< S > &result)
template double	continuousCollide (const CollisionObject< double > *o1, const Transform3< double > &tf1_end, const CollisionObject< double > *o2, const Transform3< double > &tf2_end, const ContinuousCollisionRequest< double > &request, ContinuousCollisionResult< double > &result)
template<typename S >
FCL_EXPORT S	continuousCollide (const CollisionObject< S > *o1, const Transform3< S > &tf1_end, const CollisionObject< S > *o2, const Transform3< S > &tf2_end, const ContinuousCollisionRequest< S > &request, ContinuousCollisionResult< S > &result)
template<typename S >
FCL_EXPORT S	continuousCollideBVHPolynomial (const CollisionGeometry< S > *o1, const TranslationMotion< S > *motion1, const CollisionGeometry< S > *o2, const TranslationMotion< S > *motion2, const ContinuousCollisionRequest< S > &request, ContinuousCollisionResult< S > &result)
template<typename S >
FCL_EXPORT S	continuousCollideConservativeAdvancement (const CollisionGeometry< S > *o1, const MotionBase< S > *motion1, const CollisionGeometry< S > *o2, const MotionBase< S > *motion2, const ContinuousCollisionRequest< S > &request, ContinuousCollisionResult< S > &result)
template<typename S >
FCL_EXPORT S	continuousCollideNaive (const CollisionGeometry< S > *o1, const MotionBase< S > *motion1, const CollisionGeometry< S > *o2, const MotionBase< S > *motion2, const ContinuousCollisionRequest< S > &request, ContinuousCollisionResult< S > &result)
template<typename BV1 , typename BV2 >
FCL_EXPORT void	convertBV (const BV1 &bv1, const Transform3< typename BV1::S > &tf1, BV2 &bv2)
	Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration. More...
template<typename S >
bool	DefaultCollisionFunction (CollisionObject< S > *o1, CollisionObject< S > *o2, void *data)
	Provides a simple callback for the collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultCollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's CollisionResult instance. More...
template<typename S >
bool	DefaultContinuousCollisionFunction (ContinuousCollisionObject< S > *o1, ContinuousCollisionObject< S > *o2, void *data)
	Provides a simple callback for the continuous collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultContinuousCollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's ContinuousCollisionResult instance. More...
template<typename S >
bool	DefaultDistanceFunction (CollisionObject< S > *o1, CollisionObject< S > *o2, void *data, S &dist)
	Provides a simple callback for the distance query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultDistanceData. It simply invokes the distance() method on the culled pair of geometries and stores the results in the data's DistanceResult instance. More...
template double	distance (const CollisionGeometry< double > *o1, const Transform3< double > &tf1, const CollisionGeometry< double > *o2, const Transform3< double > &tf2, const DistanceRequest< double > &request, DistanceResult< double > &result)
template<typename S >
FCL_EXPORT S	distance (const CollisionGeometry< S > *o1, const Transform3< S > &tf1, const CollisionGeometry< S > *o2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
template<typename S >
S	distance (const CollisionGeometry< S > *o1, const Transform3< S > &tf1, const CollisionGeometry< S > *o2, const Transform3< S > &tf2, const DistanceRequest< S > &request, DistanceResult< S > &result)
template<typename NarrowPhaseSolver >
NarrowPhaseSolver::S	distance (const CollisionGeometry< typename NarrowPhaseSolver::S > *o1, const Transform3< typename NarrowPhaseSolver::S > &tf1, const CollisionGeometry< typename NarrowPhaseSolver::S > *o2, const Transform3< typename NarrowPhaseSolver::S > &tf2, const NarrowPhaseSolver *nsolver_, const DistanceRequest< typename NarrowPhaseSolver::S > &request, DistanceResult< typename NarrowPhaseSolver::S > &result)
template double	distance (const CollisionObject< double > *o1, const CollisionObject< double > *o2, const DistanceRequest< double > &request, DistanceResult< double > &result)
template<typename S >
FCL_EXPORT S	distance (const CollisionObject< S > *o1, const CollisionObject< S > *o2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects. More...
template<typename S >
S	distance (const CollisionObject< S > *o1, const CollisionObject< S > *o2, const DistanceRequest< S > &request, DistanceResult< S > &result)
	Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects. More...
template<typename NarrowPhaseSolver >
NarrowPhaseSolver::S	distance (const CollisionObject< typename NarrowPhaseSolver::S > *o1, const CollisionObject< typename NarrowPhaseSolver::S > *o2, const NarrowPhaseSolver *nsolver, const DistanceRequest< typename NarrowPhaseSolver::S > &request, DistanceResult< typename NarrowPhaseSolver::S > &result)
template<typename S , typename DerivedA , typename DerivedB >
S	distance (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
	Approximate distance between two kIOS bounding volumes. More...
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT S	distance (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr)
	Approximate distance between two kIOS bounding volumes. More...
template<typename S , typename DerivedA , typename DerivedB >
S	distance (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const OBBRSS< S > &b1, const OBBRSS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not nullptr, returns the nearest points. More...
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT S	distance (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const OBBRSS< S > &b1, const OBBRSS< S > &b2, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not nullptr, returns the nearest points. More...
template<typename S , typename DerivedA , typename DerivedB >
S	distance (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const RSS< S > &b1, const RSS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
	distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points. Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1) More...
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT S	distance (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const RSS< S > &b1, const RSS< S > &b2, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr)
	distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points. Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1) More...
template<typename S >
S	distance (const Transform3< S > &tf, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
	Approximate distance between two kIOS bounding volumes. More...
template<typename S >
FCL_EXPORT S	distance (const Transform3< S > &tf, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr)
	Approximate distance between two kIOS bounding volumes. More...
template<typename S >
FCL_EXPORT S	distance (const Transform3< S > &tf, const OBBRSS< S > &b1, const OBBRSS< S > &b2, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not nullptr, returns the nearest points. More...
template<typename S >
FCL_EXPORT void	eigen (const Matrix3< S > &m, Vector3< S > &dout, Matrix3< S > &vout)
	compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...
template void	eigen (const Matrix3d &m, Vector3d &dout, Matrix3d &vout)
template<typename S >
FCL_EXPORT void	eigen_old (const Matrix3< S > &m, Vector3< S > &dout, Matrix3< S > &vout)
	compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...
template void	eigen_old (const Matrix3d &m, Vector3d &dout, Matrix3d &vout)
template<typename BV >
FCL_EXPORT void	fit (const Vector3< typename BV::S > *const ps, int n, BV &bv)
	Compute a bounding volume that fits a set of n points. More...
template void	flipNormal (std::vector< ContactPoint< double >> &contacts)
template<typename S >
FCL_EXPORT void	flipNormal (std::vector< ContactPoint< S >> &contacts)
template<typename S >
void	flipNormal (std::vector< ContactPoint< S >> &contacts)
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Box< typename BV::S > &shape, const Transform3< typename BV::S > &pose, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from box. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Cone< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int circle_split_tot, unsigned int h_num, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from cone. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Cone< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int circle_split_tot_for_unit_cone, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from cone. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Cylinder< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int circle_split_tot, unsigned int h_num, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Cylinder< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int circle_split_tot_for_unit_cylinder, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from cylinder. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Ellipsoid< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int n_faces_for_unit_ellipsoid, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from ellipsoid. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Ellipsoid< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int seg, unsigned int ring, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from ellipsoid. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Sphere< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int n_faces_for_unit_sphere, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from sphere. More...
template<typename BV >
int	generateBVHModel (BVHModel< BV > &model, const Sphere< typename BV::S > &shape, const Transform3< typename BV::S > &pose, unsigned int seg, unsigned int ring, FinalizeModel finalize_model=FinalizeModel::DO)
	Generate BVH model from sphere. More...
template<typename S >
FCL_EXPORT Matrix3< S >	generateCoordinateSystem (const Vector3< S > &x_axis)
	compute orthogonal coordinate system basis with given x-axis. More...
template Matrix3d	generateCoordinateSystem (const Vector3d &x_axis)
template void	generateTaylorModelForCosFunc (TaylorModel< double > &tm, double w, double q0)
template<typename S >
FCL_EXPORT void	generateTaylorModelForCosFunc (TaylorModel< S > &tm, S w, S q0)
	Generate Taylor model for cos(w t + q0) More...
template<typename S >
void	generateTaylorModelForCosFunc (TaylorModel< S > &tm, S w, S q0)
	Generate Taylor model for cos(w t + q0) More...
template void	generateTaylorModelForLinearFunc (TaylorModel< double > &tm, double p, double v)
template<typename S >
FCL_EXPORT void	generateTaylorModelForLinearFunc (TaylorModel< S > &tm, S p, S v)
	Generate Taylor model for p + v t. More...
template<typename S >
void	generateTaylorModelForLinearFunc (TaylorModel< S > &tm, S p, S v)
	Generate Taylor model for p + v t. More...
template void	generateTaylorModelForSinFunc (TaylorModel< double > &tm, double w, double q0)
template<typename S >
FCL_EXPORT void	generateTaylorModelForSinFunc (TaylorModel< S > &tm, S w, S q0)
	Generate Taylor model for sin(w t + q0) More...
template<typename S >
void	generateTaylorModelForSinFunc (TaylorModel< S > &tm, S w, S q0)
	Generate Taylor model for sin(w t + q0) More...
template void	generateTVector3ForLinearFunc (TVector3< double > &v, const Vector3< double > &position, const Vector3< double > &velocity)
template<typename S >
FCL_EXPORT void	generateTVector3ForLinearFunc (TVector3< S > &v, const Vector3< S > &position, const Vector3< S > &velocity)
template<typename S >
void	generateTVector3ForLinearFunc (TVector3< S > &v, const Vector3< S > &position, const Vector3< S > &velocity)
template<typename GJKSolver >
detail::CollisionFunctionMatrix< GJKSolver > &	getCollisionFunctionLookTable ()
template<typename GJKSolver >
detail::ConservativeAdvancementFunctionMatrix< GJKSolver > &	getConservativeAdvancementFunctionLookTable ()
template<typename S >
FCL_EXPORT void	getCovariance (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, Matrix3< S > &M)
	Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More...
template void	getCovariance (const Vector3d *const ps, const Vector3d *const ps2, Triangle *ts, unsigned int *indices, int n, Matrix3d &M)
template<typename GJKSolver >
detail::DistanceFunctionMatrix< GJKSolver > &	getDistanceFunctionLookTable ()
template<typename S , std::size_t N>
FCL_EXPORT void	getDistances (const Vector3< S > &p, S *d)
	Compute the distances to planes with normals from KDOP vectors except those of AABB face planes. More...
template void	getDistances< double, 5 > (const Vector3< double > &p, double *d)
template void	getDistances< double, 6 > (const Vector3< double > &p, double *d)
template void	getDistances< double, 9 > (const Vector3< double > &p, double *d)
template<typename S >
FCL_EXPORT void	getExtentAndCenter (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3< S > &axis, Vector3< S > &center, Vector3< S > &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
template<typename S >
FCL_EXPORT void	getExtentAndCenter (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, Transform3< S > &tf, Vector3< S > &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
template void	getExtentAndCenter (const Vector3d *const ps, const Vector3d *const ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3d &axis, Vector3d &center, Vector3d &extent)
template<typename S >
FCL_EXPORT MotionBasePtr< S >	getMotionBase (const Transform3< S > &tf_beg, const Transform3< S > &tf_end, CCDMotionType motion_type)
template<typename S >
FCL_EXPORT void	getRadiusAndOriginAndRectangleSize (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3< S > &axis, Vector3< S > &origin, S l[2], S &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
template<typename S >
FCL_EXPORT void	getRadiusAndOriginAndRectangleSize (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, Transform3< S > &tf, S l[2], S &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
template void	getRadiusAndOriginAndRectangleSize (const Vector3d *const ps, const Vector3d *const ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3d &axis, Vector3d &origin, double l[2], double &r)
template void	getRadiusAndOriginAndRectangleSize (const Vector3d *const ps, const Vector3d *const ps2, Triangle *ts, unsigned int *indices, int n, Transform3d &tf, double l[2], double &r)
template<typename S >
FCL_EXPORT void	hat (Matrix3< S > &mat, const Vector3< S > &vec)
template void	hat (Matrix3d &mat, const Vector3d &vec)
template bool	inVoronoi (double a, double b, double Anorm_dot_B, double Anorm_dot_T, double A_dot_B, double A_dot_T, double B_dot_T)
template<typename S >
FCL_EXPORT bool	inVoronoi (S a, S b, S Anorm_dot_B, S Anorm_dot_T, S A_dot_B, S A_dot_T, S B_dot_T)
	Returns whether the nearest point on rectangle edge Pb + B*u, 0 <= u <= b, to the rectangle edge, Pa + A*t, 0 <= t <= a, is within the half space determined by the point Pa and the direction Anorm. A,B, and Anorm are unit vectors. T is the vector between Pa and Pb. More...
template<typename S >
bool	inVoronoi (S a, S b, S Anorm_dot_B, S Anorm_dot_T, S A_dot_B, S A_dot_T, S B_dot_T)
	Returns whether the nearest point on rectangle edge Pb + B*u, 0 <= u <= b, to the rectangle edge, Pa + A*t, 0 <= t <= a, is within the half space determined by the point Pa and the direction Anorm. A,B, and Anorm are unit vectors. T is the vector between Pa and Pb. More...
template<typename _Tp , typename... _Args>
std::shared_ptr< _Tp >	make_aligned_shared (_Args &&... __args)
template<typename S >
FCL_EXPORT S	maximumDistance (const Vector3< S > *const ps, const Vector3< S > *const ps2, Triangle *ts, unsigned int *indices, int n, const Vector3< S > &query)
	Compute the maximum distance from a given center point to a point cloud. More...
template double	maximumDistance (const Vector3d *const ps, const Vector3d *const ps2, Triangle *ts, unsigned int *indices, int n, const Vector3d &query)
template OBB< double >	merge_largedist (const OBB< double > &b1, const OBB< double > &b2)
template<typename S >
FCL_EXPORT OBB< S >	merge_largedist (const OBB< S > &b1, const OBB< S > &b2)
	OBB merge method when the centers of two smaller OBB are far away. More...
template<typename S >
OBB< S >	merge_largedist (const OBB< S > &b1, const OBB< S > &b2)
	OBB merge method when the centers of two smaller OBB are far away. More...
template OBB< double >	merge_smalldist (const OBB< double > &b1, const OBB< double > &b2)
template<typename S >
FCL_EXPORT OBB< S >	merge_smalldist (const OBB< S > &b1, const OBB< S > &b2)
	OBB merge method when the centers of two smaller OBB are close. More...
template<typename S >
OBB< S >	merge_smalldist (const OBB< S > &b1, const OBB< S > &b2)
	OBB merge method when the centers of two smaller OBB are close. More...
template void	minmax (double a, double b, double &minv, double &maxv)
template void	minmax (double p, double &minv, double &maxv)
template<typename S >
FCL_EXPORT void	minmax (S a, S b, S &minv, S &maxv)
	Find the smaller and larger one of two values. More...
template<typename S >
FCL_EXPORT void	minmax (S p, S &minv, S &maxv)
	Merge the interval [minv, maxv] and value p/. More...
template<typename S >
FCL_EXPORT void	normalize (Vector3< S > &v, bool *signal)
template void	normalize (Vector3d &v, bool *signal)
template bool	obbDisjoint (const Matrix3< double > &B, const Vector3< double > &T, const Vector3< double > &a, const Vector3< double > &b)
template<typename S >
FCL_EXPORT bool	obbDisjoint (const Matrix3< S > &B, const Vector3< S > &T, const Vector3< S > &a, const Vector3< S > &b)
	Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b. More...
template<typename S >
bool	obbDisjoint (const Matrix3< S > &B, const Vector3< S > &T, const Vector3< S > &a, const Vector3< S > &b)
	Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b. More...
template bool	obbDisjoint (const Transform3< double > &tf, const Vector3< double > &a, const Vector3< double > &b)
template<typename S >
FCL_EXPORT bool	obbDisjoint (const Transform3< S > &tf, const Vector3< S > &a, const Vector3< S > &b)
	Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b. More...
template<typename S >
bool	obbDisjoint (const Transform3< S > &tf, const Vector3< S > &a, const Vector3< S > &b)
	Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b. More...
template TMatrix3< double >	operator* (const Matrix3< double > &m, const TaylorModel< double > &a)
template<typename S >
FCL_EXPORT TMatrix3< S >	operator* (const Matrix3< S > &m, const TaylorModel< S > &a)
template<typename S >
TMatrix3< S >	operator* (const Matrix3< S > &m, const TaylorModel< S > &a)
template TMatrix3< double >	operator* (const TaylorModel< double > &a, const Matrix3< double > &m)
template TMatrix3< double >	operator* (const TaylorModel< double > &a, const TMatrix3< double > &m)
template<typename S >
FCL_EXPORT TMatrix3< S >	operator* (const TaylorModel< S > &a, const Matrix3< S > &m)
template<typename S >
TMatrix3< S >	operator* (const TaylorModel< S > &a, const Matrix3< S > &m)
template<typename S >
FCL_EXPORT TMatrix3< S >	operator* (const TaylorModel< S > &a, const TMatrix3< S > &m)
template<typename S >
TMatrix3< S >	operator* (const TaylorModel< S > &a, const TMatrix3< S > &m)
template TVector3< double >	operator* (const Vector3< double > &v, const TaylorModel< double > &a)
template<typename S >
FCL_EXPORT TVector3< S >	operator* (const Vector3< S > &v, const TaylorModel< S > &a)
template<typename S >
TVector3< S >	operator* (const Vector3< S > &v, const TaylorModel< S > &a)
template TaylorModel< double >	operator* (double d, const TaylorModel< double > &a)
template TMatrix3< double >	operator* (double d, const TMatrix3< double > &m)
template<typename S >
FCL_EXPORT TaylorModel< S >	operator* (S d, const TaylorModel< S > &a)
template<typename S >
TaylorModel< S >	operator* (S d, const TaylorModel< S > &a)
template<typename S >
FCL_EXPORT TMatrix3< S >	operator* (S d, const TMatrix3< S > &m)
template<typename S >
TMatrix3< S >	operator* (S d, const TMatrix3< S > &m)
template TMatrix3< double >	operator+ (const Matrix3< double > &m1, const TMatrix3< double > &m2)
template<typename S >
FCL_EXPORT TMatrix3< S >	operator+ (const Matrix3< S > &m1, const TMatrix3< S > &m2)
template<typename S >
TMatrix3< S >	operator+ (const Matrix3< S > &m1, const TMatrix3< S > &m2)
template TVector3< double >	operator+ (const Vector3< double > &v1, const TVector3< double > &v2)
template<typename S >
FCL_EXPORT TVector3< S >	operator+ (const Vector3< S > &v1, const TVector3< S > &v2)
template<typename S >
TVector3< S >	operator+ (const Vector3< S > &v1, const TVector3< S > &v2)
template TaylorModel< double >	operator+ (double d, const TaylorModel< double > &a)
template<typename S >
FCL_EXPORT TaylorModel< S >	operator+ (S d, const TaylorModel< S > &a)
template<typename S >
TaylorModel< S >	operator+ (S d, const TaylorModel< S > &a)
template TMatrix3< double >	operator- (const Matrix3< double > &m1, const TMatrix3< double > &m2)
template<typename S >
FCL_EXPORT TMatrix3< S >	operator- (const Matrix3< S > &m1, const TMatrix3< S > &m2)
template<typename S >
TMatrix3< S >	operator- (const Matrix3< S > &m1, const TMatrix3< S > &m2)
template TVector3< double >	operator- (const Vector3< double > &v1, const TVector3< double > &v2)
template<typename S >
FCL_EXPORT TVector3< S >	operator- (const Vector3< S > &v1, const TVector3< S > &v2)
template<typename S >
TVector3< S >	operator- (const Vector3< S > &v1, const TVector3< S > &v2)
template TaylorModel< double >	operator- (double d, const TaylorModel< double > &a)
template<typename S >
FCL_EXPORT TaylorModel< S >	operator- (S d, const TaylorModel< S > &a)
template<typename S >
TaylorModel< S >	operator- (S d, const TaylorModel< S > &a)
std::ostream &	operator<< (std::ostream &out, const NODE_TYPE &node)
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename S , typename DerivedA , typename DerivedB >
bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const OBB< S > &b1, const OBB< S > &b2)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename S , typename DerivedA , typename DerivedB >
bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const OBB< S > &b1, const OBB< S > &b2)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const OBBRSS< S > &b1, const OBBRSS< S > &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...
template<typename S , typename DerivedA , typename DerivedB >
bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const OBBRSS< S > &b1, const OBBRSS< S > &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const RSS< S > &b1, const RSS< S > &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename S , typename DerivedA , typename DerivedB >
bool	overlap (const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const RSS< S > &b1, const RSS< S > &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename S >
FCL_EXPORT bool	overlap (const Transform3< S > &tf, const kIOS< S > &b1, const kIOS< S > &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
template<typename S >
FCL_EXPORT bool	overlap (const Transform3< S > &tf, const OBBRSS< S > &b1, const OBBRSS< S > &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...
template double	rectDistance (const Matrix3< double > &Rab, const Vector3< double > &Tab, const double a[2], const double b[2], Vector3< double > *P, Vector3< double > *Q)
template<typename S >
FCL_EXPORT S	rectDistance (const Matrix3< S > &Rab, const Vector3< S > &Tab, const S a[2], const S b[2], Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr)
	Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle. More...
template<typename S >
S	rectDistance (const Matrix3< S > &Rab, Vector3< S > const &Tab, const S a[2], const S b[2], Vector3< S > *P, Vector3< S > *Q)
	Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle. More...
template double	rectDistance (const Transform3< double > &tfab, const double a[2], const double b[2], Vector3< double > *P, Vector3< double > *Q)
template<typename S >
S	rectDistance (const Transform3< S > &tfab, const S a[2], const S b[2], Vector3< S > *P, Vector3< S > *Q)
	Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle. More...
template<typename S >
FCL_EXPORT S	rectDistance (const Transform3< S > &tfab, const S a[2], const S b[2], Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr)
	Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle. More...
template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD >
FCL_EXPORT void	relativeTransform (const Eigen::MatrixBase< DerivedA > &R1, const Eigen::MatrixBase< DerivedB > &t1, const Eigen::MatrixBase< DerivedA > &R2, const Eigen::MatrixBase< DerivedB > &t2, Eigen::MatrixBase< DerivedC > &R, Eigen::MatrixBase< DerivedD > &t)
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT void	relativeTransform (const Eigen::Transform< S, 3, Eigen::Isometry > &T1, const Eigen::Transform< S, 3, Eigen::Isometry > &T2, Eigen::MatrixBase< DerivedA > &R, Eigen::MatrixBase< DerivedB > &t)
template<typename S , typename DerivedA , typename DerivedB >
FCL_EXPORT void	relativeTransform (const Transform3< S > &T1, const Transform3< S > &T2, Eigen::MatrixBase< DerivedA > &R, Eigen::MatrixBase< DerivedB > &t)
template IMatrix3< double >	rotationConstrain (const IMatrix3< double > &m)
template<typename S >
FCL_EXPORT IMatrix3< S >	rotationConstrain (const IMatrix3< S > &m)
template<typename S >
IMatrix3< S >	rotationConstrain (const IMatrix3< S > &m)
template TMatrix3< double >	rotationConstrain (const TMatrix3< double > &m)
template<typename S >
FCL_EXPORT TMatrix3< S >	rotationConstrain (const TMatrix3< S > &m)
template<typename S >
TMatrix3< S >	rotationConstrain (const TMatrix3< S > &m)
template void	segCoords (double &t, double &u, double a, double b, double A_dot_B, double A_dot_T, double B_dot_T)
template<typename S >
FCL_EXPORT void	segCoords (S &t, S &u, S a, S b, S A_dot_B, S A_dot_T, S B_dot_T)
	Finds the parameters t & u corresponding to the two closest points on a pair of line segments. The first segment is defined as Pa + A*t, 0 <= t <= a, where "Pa" is one endpoint of the segment, "A" is a unit vector pointing to the other endpoint, and t is a scalar that produces all the points between the two endpoints. Since "A" is a unit vector, "a" is the segment's length. The second segment is defined as Pb + B*u, 0 <= u <= b. Many of the terms needed by the algorithm are already computed for other purposes,so we just pass these terms into the function instead of complete specifications of each segment. "T" in the dot products is the vector betweeen Pa and Pb. Reference: "On fast computation of distance between line segments." Vladimir J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985. More...
template<typename S >
void	segCoords (S &t, S &u, S a, S b, S A_dot_B, S A_dot_T, S B_dot_T)
	Finds the parameters t & u corresponding to the two closest points on a pair of line segments. The first segment is defined as Pa + A*t, 0 <= t <= a, where "Pa" is one endpoint of the segment, "A" is a unit vector pointing to the other endpoint, and t is a scalar that produces all the points between the two endpoints. Since "A" is a unit vector, "a" is the segment's length. The second segment is defined as Pb + B*u, 0 <= u <= b. Many of the terms needed by the algorithm are already computed for other purposes,so we just pass these terms into the function instead of complete specifications of each segment. "T" in the dot products is the vector betweeen Pa and Pb. Reference: "On fast computation of distance between line segments." Vladimir J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985. More...
template Halfspace< double >	transform (const Halfspace< double > &a, const Transform3< double > &tf)
template<typename S >
FCL_EXPORT Halfspace< S >	transform (const Halfspace< S > &a, const Transform3< S > &tf)
template<typename S >
Halfspace< S >	transform (const Halfspace< S > &a, const Transform3< S > &tf)
template Plane< double >	transform (const Plane< double > &a, const Transform3< double > &tf)
template<typename S >
FCL_EXPORT Plane< S >	transform (const Plane< S > &a, const Transform3< S > &tf)
template<typename S >
Plane< S >	transform (const Plane< S > &a, const Transform3< S > &tf)
template<typename S , typename Derived >
AABB< S >	translate (const AABB< S > &aabb, const Eigen::MatrixBase< Derived > &t)
	translate the center of AABB by t More...
template<typename S , std::size_t N, typename Derived >
FCL_EXPORT KDOP< S, N >	translate (const KDOP< S, N > &bv, const Eigen::MatrixBase< Derived > &t)
	translate the KDOP BV More...
template<typename S , typename Derived >
FCL_EXPORT kIOS< S >	translate (const kIOS< S > &bv, const Eigen::MatrixBase< Derived > &t)
	Translate the kIOS BV. More...
template<typename S , typename Derived >
kIOS< S >	translate (const kIOS< S > &bv, const Eigen::MatrixBase< Derived > &t)
	Translate the kIOS BV. More...
template<typename S , typename Derived >
FCL_EXPORT OBB< S >	translate (const OBB< S > &bv, const Eigen::MatrixBase< Derived > &t)
	Translate the OBB bv. More...
template<typename S , typename Derived >
OBB< S >	translate (const OBB< S > &bv, const Eigen::MatrixBase< Derived > &t)
	Translate the OBB bv. More...
template OBBRSS< double >	translate (const OBBRSS< double > &bv, const Vector3< double > &t)
template<typename S >
FCL_EXPORT OBBRSS< S >	translate (const OBBRSS< S > &bv, const Vector3< S > &t)
	Translate the OBBRSS bv. More...
template<typename S >
OBBRSS< S >	translate (const OBBRSS< S > &bv, const Vector3< S > &t)
	Translate the OBBRSS bv. More...
template RSS< double >	translate (const RSS< double > &bv, const Vector3< double > &t)
template<typename S >
FCL_EXPORT RSS< S >	translate (const RSS< S > &bv, const Vector3< S > &t)
	Translate the RSS bv. More...
template<typename S >
RSS< S >	translate (const RSS< S > &bv, const Vector3< S > &t)
	Translate the RSS bv. More...
template<typename Derived >
FCL_EXPORT Derived::RealScalar	triple (const Eigen::MatrixBase< Derived > &x, const Eigen::MatrixBase< Derived > &y, const Eigen::MatrixBase< Derived > &z)

Variables
template class FCL_EXPORT	AABB< double >
template class FCL_EXPORT	Box< double >
template class FCL_EXPORT	BroadPhaseCollisionManager< double >
template class FCL_EXPORT	BroadPhaseContinuousCollisionManager< double >
template class FCL_EXPORT	Capsule< double >
template class FCL_EXPORT	CollisionGeometry< double >
template class FCL_EXPORT	CollisionObject< double >
template class FCL_EXPORT	Cone< double >
template class FCL_EXPORT	ContinuousCollisionObject< double >
template class FCL_EXPORT	Convex< double >
template class FCL_EXPORT	Cylinder< double >
template class FCL_EXPORT	DynamicAABBTreeCollisionManager< double >
template class FCL_EXPORT	DynamicAABBTreeCollisionManager_Array< double >
template class FCL_EXPORT	Ellipsoid< double >
template class FCL_EXPORT	Halfspace< double >
template class FCL_EXPORT	InterpMotion< double >
template class FCL_EXPORT	IntervalTreeCollisionManager< double >
template class FCL_EXPORT	KDOP< double, 16 >
template class FCL_EXPORT	KDOP< double, 18 >
template class FCL_EXPORT	KDOP< double, 24 >
template class FCL_EXPORT	kIOS< double >
template class FCL_EXPORT	MotionBase< double >
template class FCL_EXPORT	NaiveCollisionManager< double >
template class FCL_EXPORT	OBB< double >
template class FCL_EXPORT	OBBRSS< double >
template class FCL_EXPORT	Plane< double >
template class FCL_EXPORT	RNG< double >
template class FCL_EXPORT	RSS< double >
template class FCL_EXPORT	SamplerBase< double >
template class FCL_EXPORT	SamplerSE2< double >
template class FCL_EXPORT	SamplerSE2_disk< double >
template class FCL_EXPORT	SamplerSE3Euler< double >
template class FCL_EXPORT	SamplerSE3Euler_ball< double >
template class FCL_EXPORT	SamplerSE3Quat< double >
template class FCL_EXPORT	SamplerSE3Quat_ball< double >
template class FCL_EXPORT	SaPCollisionManager< double >
template class FCL_EXPORT	ScrewMotion< double >
template class FCL_EXPORT	ShapeBase< double >
template class FCL_EXPORT	Sphere< double >
template class FCL_EXPORT	SplineMotion< double >
template class FCL_EXPORT	SSaPCollisionManager< double >
template class FCL_EXPORT	TaylorModel< double >
template class FCL_EXPORT	TMatrix3< double >
template class FCL_EXPORT	TranslationMotion< double >
template class FCL_EXPORT	TriangleMotionBoundVisitor< double >
template class FCL_EXPORT	TriangleP< double >
template class FCL_EXPORT	TVector3< double >
template class FCL_EXPORT	Variance3< double >

Detailed Description

Main namespace.

collision and distance function on traversal nodes. these functions provide a higher level abstraction for collision functions provided in collision_func_matrix

Author

Jia Pan

Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l)

Jia Pan

Ioan Sucan

Jia Pan

Sean Curtis (2018) Modify API and correct implementation bugs.

Jia Pan

Sean Curtis (2018) Streamline API and document.

Sean Curtis

Jia Pan

Mark Moll

Sean Curtis sean@.nosp@m.tri..nosp@m.globa.nosp@m.l (2018)

Jeongseok Lee jslee.nosp@m.02@g.nosp@m.mail..nosp@m.com

Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l) (2018)

Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l) (2023)

Gabriele Buondonno (gbuon.nosp@m.don@.nosp@m.laas..nosp@m.fr) (2019)

Hongkai Dai (hongk.nosp@m.ai.d.nosp@m.ai@tr.nosp@m.i.gl.nosp@m.obal) Tests the Expanded Polytope Algorithm (EPA) implementation inside FCL. EPA computes the penetration depth and the points with the deepest penetration between two convex objects.

Hongkai Dai Test the signed distance query between two convex objects, when calling with solver = GST_LIBCCD.

Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l) (2020)

Sean Curtis (sean@.nosp@m.tri..nosp@m.globa.nosp@m.l) (2021)

Typedef Documentation

AABBd

using fcl::AABBd = typedef AABB<double>

Definition at line 140 of file AABB.h.

AABBf

using fcl::AABBf = typedef AABB<float>

Definition at line 139 of file AABB.h.

aligned_map

template<typename _Key , typename _Tp , typename _Compare = std::less<_Key>>

using fcl::aligned_map = typedef std::map<_Key, _Tp, _Compare, Eigen::aligned_allocator<std::pair<const _Key, _Tp> >>

Definition at line 126 of file types.h.

aligned_vector

template<typename _Tp >

using fcl::aligned_vector = typedef std::vector<_Tp, Eigen::aligned_allocator<_Tp> >

Definition at line 122 of file types.h.

AngleAxis

template<typename S >

using fcl::AngleAxis = typedef Eigen::AngleAxis<S>

Definition at line 97 of file types.h.

AngleAxisd

using fcl::AngleAxisd = typedef AngleAxis<double>

Definition at line 119 of file types.h.

AngleAxisf

using fcl::AngleAxisf = typedef AngleAxis<float>

Definition at line 108 of file types.h.

Boxd

using fcl::Boxd = typedef Box<double>

Definition at line 100 of file box.h.

Boxf

using fcl::Boxf = typedef Box<float>

Definition at line 99 of file box.h.

BroadPhaseCollisionManagerd

using fcl::BroadPhaseCollisionManagerd = typedef BroadPhaseCollisionManager<double>

Definition at line 137 of file broadphase_collision_manager.h.

BroadPhaseCollisionManagerf

using fcl::BroadPhaseCollisionManagerf = typedef BroadPhaseCollisionManager<float>

Definition at line 136 of file broadphase_collision_manager.h.

BroadPhaseContinuousCollisionManagerd

using fcl::BroadPhaseContinuousCollisionManagerd = typedef BroadPhaseContinuousCollisionManager<double>

Definition at line 126 of file broadphase_continuous_collision_manager.h.

BroadPhaseContinuousCollisionManagerf

using fcl::BroadPhaseContinuousCollisionManagerf = typedef BroadPhaseContinuousCollisionManager<float>

Definition at line 125 of file broadphase_continuous_collision_manager.h.

Capsuled

using fcl::Capsuled = typedef Capsule<double>

Definition at line 97 of file capsule.h.

Capsulef

using fcl::Capsulef = typedef Capsule<float>

Definition at line 96 of file capsule.h.

CollisionCallBack

template<typename S >

using fcl::CollisionCallBack = typedef bool (*)( CollisionObject<S>* o1, CollisionObject<S>* o2, void* cdata)

Callback for collision between two objects. Return value is whether can stop now.

Definition at line 53 of file broadphase_collision_manager.h.

CollisionGeometryd

using fcl::CollisionGeometryd = typedef CollisionGeometry<double>

Definition at line 125 of file collision_geometry.h.

CollisionGeometryf

using fcl::CollisionGeometryf = typedef CollisionGeometry<float>

Definition at line 124 of file collision_geometry.h.

CollisionObjectd

using fcl::CollisionObjectd = typedef CollisionObject<double>

Definition at line 160 of file collision_object.h.

CollisionObjectf

using fcl::CollisionObjectf = typedef CollisionObject<float>

Definition at line 159 of file collision_object.h.

CollisionRequestd

using fcl::CollisionRequestd = typedef CollisionRequest<double>

Definition at line 109 of file collision_request.h.

CollisionRequestf

using fcl::CollisionRequestf = typedef CollisionRequest<float>

Definition at line 108 of file collision_request.h.

CollisionResultd

using fcl::CollisionResultd = typedef CollisionResult<double>

Definition at line 96 of file collision_result.h.

CollisionResultf

using fcl::CollisionResultf = typedef CollisionResult<float>

Definition at line 95 of file collision_result.h.

Coned

using fcl::Coned = typedef Cone<double>

Definition at line 99 of file cone.h.

Conef

using fcl::Conef = typedef Cone<float>

Definition at line 98 of file cone.h.

constantsd

using fcl::constantsd = typedef constants<double>

Definition at line 184 of file constants.h.

constantsf

using fcl::constantsf = typedef constants<float>

Definition at line 183 of file constants.h.

Contactd

using fcl::Contactd = typedef Contact<double>

Definition at line 94 of file contact.h.

Contactf

using fcl::Contactf = typedef Contact<float>

Definition at line 93 of file contact.h.

ContactPointd

using fcl::ContactPointd = typedef ContactPoint<double>

Definition at line 67 of file contact_point.h.

ContactPointf

using fcl::ContactPointf = typedef ContactPoint<float>

Definition at line 66 of file contact_point.h.

ContinuousCollisionCallBack

template<typename S >

using fcl::ContinuousCollisionCallBack = typedef bool (*)( ContinuousCollisionObject<S>* o1, ContinuousCollisionObject<S>* o2, void* cdata)

Callback for continuous collision between two objects. Return value is whether can stop now.

Definition at line 53 of file broadphase_continuous_collision_manager.h.

ContinuousCollisionObjectd

using fcl::ContinuousCollisionObjectd = typedef ContinuousCollisionObject<double>

Definition at line 106 of file continuous_collision_object.h.

ContinuousCollisionObjectf

using fcl::ContinuousCollisionObjectf = typedef ContinuousCollisionObject<float>

Definition at line 105 of file continuous_collision_object.h.

ContinuousCollisionRequestd

using fcl::ContinuousCollisionRequestd = typedef ContinuousCollisionRequest<double>

Definition at line 78 of file continuous_collision_request.h.

ContinuousCollisionRequestf

using fcl::ContinuousCollisionRequestf = typedef ContinuousCollisionRequest<float>

Definition at line 77 of file continuous_collision_request.h.

ContinuousCollisionResultd

using fcl::ContinuousCollisionResultd = typedef ContinuousCollisionResult<double>

Definition at line 66 of file continuous_collision_result.h.

ContinuousCollisionResultf

using fcl::ContinuousCollisionResultf = typedef ContinuousCollisionResult<float>

Definition at line 65 of file continuous_collision_result.h.

ContinuousDistanceCallBack

template<typename S >

using fcl::ContinuousDistanceCallBack = typedef bool (*)( ContinuousCollisionObject<S>* o1, ContinuousCollisionObject<S>* o2, void* cdata, S& dist)

Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now.

Definition at line 60 of file broadphase_continuous_collision_manager.h.

Convexd

using fcl::Convexd = typedef Convex<double>

Definition at line 282 of file convex.h.

Convexf

using fcl::Convexf = typedef Convex<float>

Definition at line 281 of file convex.h.

CostSourced

using fcl::CostSourced = typedef CostSource<double>

Definition at line 72 of file cost_source.h.

CostSourcef

using fcl::CostSourcef = typedef CostSource<float>

Definition at line 71 of file cost_source.h.

Cylinderd

using fcl::Cylinderd = typedef Cylinder<double>

Definition at line 97 of file cylinder.h.

Cylinderf

using fcl::Cylinderf = typedef Cylinder<float>

Definition at line 96 of file cylinder.h.

DistanceCallBack

template<typename S >

using fcl::DistanceCallBack = typedef bool (*)( CollisionObject<S>* o1, CollisionObject<S>* o2, void* cdata, S& dist)

Callback for distance between two objects, Return value is whether can stop now, also return the minimum distance till now.

Definition at line 60 of file broadphase_collision_manager.h.

DistanceRequestd

using fcl::DistanceRequestd = typedef DistanceRequest<double>

Definition at line 116 of file distance_request.h.

DistanceRequestf

using fcl::DistanceRequestf = typedef DistanceRequest<float>

Definition at line 115 of file distance_request.h.

DistanceResultd

using fcl::DistanceResultd = typedef DistanceResult<double>

Definition at line 110 of file distance_result.h.

DistanceResultf

using fcl::DistanceResultf = typedef DistanceResult<float>

Definition at line 109 of file distance_result.h.

DynamicAABBTreeCollisionManager_Arrayd

using fcl::DynamicAABBTreeCollisionManager_Arrayd = typedef DynamicAABBTreeCollisionManager_Array<double>

Definition at line 136 of file broadphase_dynamic_AABB_tree_array.h.

DynamicAABBTreeCollisionManager_Arrayf

using fcl::DynamicAABBTreeCollisionManager_Arrayf = typedef DynamicAABBTreeCollisionManager_Array<float>

Definition at line 135 of file broadphase_dynamic_AABB_tree_array.h.

DynamicAABBTreeCollisionManagerd

using fcl::DynamicAABBTreeCollisionManagerd = typedef DynamicAABBTreeCollisionManager<double>

Definition at line 135 of file broadphase_dynamic_AABB_tree.h.

DynamicAABBTreeCollisionManagerf

using fcl::DynamicAABBTreeCollisionManagerf = typedef DynamicAABBTreeCollisionManager<float>

Definition at line 134 of file broadphase_dynamic_AABB_tree.h.

Ellipsoidd

using fcl::Ellipsoidd = typedef Ellipsoid<double>

Definition at line 97 of file ellipsoid.h.

Ellipsoidf

using fcl::Ellipsoidf = typedef Ellipsoid<float>

Definition at line 96 of file ellipsoid.h.

FCL_INT32

typedef FCL_DEPRECATED std::int32_t fcl::FCL_INT32

Definition at line 56 of file types.h.

FCL_INT64

typedef FCL_DEPRECATED std::int64_t fcl::FCL_INT64

Definition at line 54 of file types.h.

FCL_REAL

typedef FCL_DEPRECATED double fcl::FCL_REAL

Definition at line 53 of file types.h.

FCL_UINT32

typedef FCL_DEPRECATED std::uint32_t fcl::FCL_UINT32

Definition at line 57 of file types.h.

FCL_UINT64

typedef FCL_DEPRECATED std::uint64_t fcl::FCL_UINT64

Definition at line 55 of file types.h.

Halfspaced

using fcl::Halfspaced = typedef Halfspace<double>

Definition at line 111 of file geometry/shape/halfspace.h.

Halfspacef

using fcl::Halfspacef = typedef Halfspace<float>

Definition at line 110 of file geometry/shape/halfspace.h.

int32

using fcl::int32 = typedef std::int32_t

Definition at line 61 of file types.h.

int64

using fcl::int64 = typedef std::int64_t

Definition at line 59 of file types.h.

IntervalTreeCollisionManagerd

using fcl::IntervalTreeCollisionManagerd = typedef IntervalTreeCollisionManager<double>

Definition at line 146 of file broadphase_interval_tree.h.

IntervalTreeCollisionManagerf

using fcl::IntervalTreeCollisionManagerf = typedef IntervalTreeCollisionManager<float>

Definition at line 145 of file broadphase_interval_tree.h.

intptr_t

using fcl::intptr_t = typedef std::intptr_t

Definition at line 63 of file types.h.

KDOPd

template<std::size_t N>

using fcl::KDOPd = typedef KDOP<double, N>

Definition at line 151 of file kDOP.h.

KDOPf

template<std::size_t N>

using fcl::KDOPf = typedef KDOP<float, N>

Definition at line 149 of file kDOP.h.

kIOSd

using fcl::kIOSd = typedef kIOS<double>

Definition at line 125 of file kIOS.h.

kIOSf

using fcl::kIOSf = typedef kIOS<float>

Definition at line 124 of file kIOS.h.

Matrix3

template<typename S >

using fcl::Matrix3 = typedef Eigen::Matrix<S, 3, 3>

Definition at line 85 of file types.h.

Matrix3d

using fcl::Matrix3d = typedef Matrix3<double>

Definition at line 115 of file types.h.

Matrix3f

using fcl::Matrix3f = typedef Matrix3<float>

Definition at line 104 of file types.h.

MotionBased

using fcl::MotionBased = typedef MotionBase<double>

Definition at line 94 of file motion_base.h.

MotionBasef

using fcl::MotionBasef = typedef MotionBase<float>

Definition at line 93 of file motion_base.h.

MotionBasePtr

template<typename S >

using fcl::MotionBasePtr = typedef std::shared_ptr<MotionBase<S> >

Definition at line 97 of file motion_base.h.

NaiveCollisionManagerd

using fcl::NaiveCollisionManagerd = typedef NaiveCollisionManager<double>

Definition at line 106 of file broadphase_bruteforce.h.

NaiveCollisionManagerf

using fcl::NaiveCollisionManagerf = typedef NaiveCollisionManager<float>

Definition at line 105 of file broadphase_bruteforce.h.

OBBd

using fcl::OBBd = typedef OBB<double>

Definition at line 123 of file OBB.h.

OBBf

using fcl::OBBf = typedef OBB<float>

Definition at line 122 of file OBB.h.

OBBRSSd

using fcl::OBBRSSd = typedef OBBRSS<double>

Definition at line 107 of file OBBRSS.h.

OBBRSSf

using fcl::OBBRSSf = typedef OBBRSS<float>

Definition at line 106 of file OBBRSS.h.

Planed

using fcl::Planed = typedef Plane<double>

Definition at line 101 of file geometry/shape/plane.h.

Planef

using fcl::Planef = typedef Plane<float>

Definition at line 100 of file geometry/shape/plane.h.

Quaternion

template<typename S >

using fcl::Quaternion = typedef Eigen::Quaternion<S>

Definition at line 88 of file types.h.

Quaterniond

using fcl::Quaterniond = typedef Quaternion<double>

Definition at line 116 of file types.h.

Quaternionf

using fcl::Quaternionf = typedef Quaternion<float>

Definition at line 105 of file types.h.

RNGd

using fcl::RNGd = typedef RNG<double>

Definition at line 132 of file rng.h.

RNGf

using fcl::RNGf = typedef RNG<float>

Definition at line 131 of file rng.h.

RSSd

using fcl::RSSd = typedef RSS<double>

Definition at line 152 of file RSS.h.

RSSf

using fcl::RSSf = typedef RSS<float>

Definition at line 151 of file RSS.h.

SamplerRd

template<std::size_t N>

using fcl::SamplerRd = typedef SamplerR<double, N>

Definition at line 77 of file sampler_r.h.

SamplerRf

template<std::size_t N>

using fcl::SamplerRf = typedef SamplerR<float, N>

Definition at line 75 of file sampler_r.h.

SamplerSE2_diskd

using fcl::SamplerSE2_diskd = typedef SamplerSE2_disk<double>

Definition at line 70 of file sampler_se2_disk.h.

SamplerSE2_diskf

using fcl::SamplerSE2_diskf = typedef SamplerSE2_disk<float>

Definition at line 69 of file sampler_se2_disk.h.

SamplerSE2d

using fcl::SamplerSE2d = typedef SamplerSE2<double>

Definition at line 78 of file sampler_se2.h.

SamplerSE2f

using fcl::SamplerSE2f = typedef SamplerSE2<float>

Definition at line 77 of file sampler_se2.h.

SamplerSE3Euler_balld

using fcl::SamplerSE3Euler_balld = typedef SamplerSE3Euler_ball<double>

Definition at line 67 of file sampler_se3_euler_ball.h.

SamplerSE3Euler_ballf

using fcl::SamplerSE3Euler_ballf = typedef SamplerSE3Euler_ball<float>

Definition at line 66 of file sampler_se3_euler_ball.h.

SamplerSE3Eulerd

using fcl::SamplerSE3Eulerd = typedef SamplerSE3Euler<double>

Definition at line 71 of file sampler_se3_euler.h.

SamplerSE3Eulerf

using fcl::SamplerSE3Eulerf = typedef SamplerSE3Euler<float>

Definition at line 70 of file sampler_se3_euler.h.

SamplerSE3Quat_balld

using fcl::SamplerSE3Quat_balld = typedef SamplerSE3Quat_ball<double>

Definition at line 66 of file sampler_se3_quat_ball.h.

SamplerSE3Quat_ballf

using fcl::SamplerSE3Quat_ballf = typedef SamplerSE3Quat_ball<float>

Definition at line 65 of file sampler_se3_quat_ball.h.

SamplerSE3Quatd

using fcl::SamplerSE3Quatd = typedef SamplerSE3Quat<double>

Definition at line 71 of file sampler_se3_quat.h.

SamplerSE3Quatf

using fcl::SamplerSE3Quatf = typedef SamplerSE3Quat<float>

Definition at line 70 of file sampler_se3_quat.h.

SaPCollisionManagerd

using fcl::SaPCollisionManagerd = typedef SaPCollisionManager<double>

Definition at line 157 of file broadphase_SaP.h.

SaPCollisionManagerf

using fcl::SaPCollisionManagerf = typedef SaPCollisionManager<float>

Definition at line 156 of file broadphase_SaP.h.

ShapeBased

using fcl::ShapeBased = typedef ShapeBase<double>

Definition at line 61 of file shape_base.h.

ShapeBasef

using fcl::ShapeBasef = typedef ShapeBase<float>

Definition at line 60 of file shape_base.h.

SpatialHashingCollisionManagerd

template<typename HashTable = detail::SimpleHashTable<AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>

using fcl::SpatialHashingCollisionManagerd = typedef SpatialHashingCollisionManager<double, HashTable>

Definition at line 168 of file broadphase_spatialhash.h.

SpatialHashingCollisionManagerf

template<typename HashTable = detail::SimpleHashTable<AABB<float>, CollisionObject<float>*, detail::SpatialHash<float>>>

using fcl::SpatialHashingCollisionManagerf = typedef SpatialHashingCollisionManager<float, HashTable>

Definition at line 165 of file broadphase_spatialhash.h.

Sphered

using fcl::Sphered = typedef Sphere<double>

Definition at line 91 of file sphere.h.

Spheref

using fcl::Spheref = typedef Sphere<float>

Definition at line 90 of file sphere.h.

SSaPCollisionManagerd

using fcl::SSaPCollisionManagerd = typedef SSaPCollisionManager<double>

Definition at line 130 of file broadphase_SSaP.h.

SSaPCollisionManagerf

using fcl::SSaPCollisionManagerf = typedef SSaPCollisionManager<float>

Definition at line 129 of file broadphase_SSaP.h.

Transform3

template<typename S >

using fcl::Transform3 = typedef Eigen::Transform<S, 3, Eigen::Isometry>

Definition at line 91 of file types.h.

Transform3d

using fcl::Transform3d = typedef Transform3<double>

Definition at line 117 of file types.h.

Transform3f

using fcl::Transform3f = typedef Transform3<float>

Definition at line 106 of file types.h.

Translation3

template<typename S >

using fcl::Translation3 = typedef Eigen::Translation<S, 3>

Definition at line 94 of file types.h.

Translation3d

using fcl::Translation3d = typedef Translation3<double>

Definition at line 118 of file types.h.

Translation3f

using fcl::Translation3f = typedef Translation3<float>

Definition at line 107 of file types.h.

TranslationMotiond

using fcl::TranslationMotiond = typedef TranslationMotion<double>

Definition at line 84 of file translation_motion.h.

TranslationMotionf

using fcl::TranslationMotionf = typedef TranslationMotion<float>

Definition at line 83 of file translation_motion.h.

TrianglePd

using fcl::TrianglePd = typedef TriangleP<double>

Definition at line 83 of file triangle_p.h.

TrianglePf

using fcl::TrianglePf = typedef TriangleP<float>

Definition at line 82 of file triangle_p.h.

uint32

using fcl::uint32 = typedef std::uint32_t

Definition at line 62 of file types.h.

uint64

using fcl::uint64 = typedef std::uint64_t

Definition at line 60 of file types.h.

uintptr_t

using fcl::uintptr_t = typedef std::uintptr_t

Definition at line 64 of file types.h.

Variance3d

using fcl::Variance3d = typedef Variance3<double>

Definition at line 77 of file variance3.h.

Variance3f

using fcl::Variance3f = typedef Variance3<float>

Definition at line 76 of file variance3.h.

Vector2

template<typename S >

using fcl::Vector2 = typedef Eigen::Matrix<S, 2, 1>

Definition at line 67 of file types.h.

Vector3

template<typename S >

using fcl::Vector3 = typedef Eigen::Matrix<S, 3, 1>

Definition at line 70 of file types.h.

Vector3d

using fcl::Vector3d = typedef Vector3<double>

Definition at line 111 of file types.h.

Vector3f

using fcl::Vector3f = typedef Vector3<float>

Definition at line 100 of file types.h.

Vector6

template<typename S >

using fcl::Vector6 = typedef Eigen::Matrix<S, 6, 1>

Definition at line 73 of file types.h.

Vector7

template<typename S >

using fcl::Vector7 = typedef Eigen::Matrix<S, 7, 1>

Definition at line 76 of file types.h.

VectorN

template<typename S , int N>

using fcl::VectorN = typedef Eigen::Matrix<S, N, 1>

Definition at line 79 of file types.h.

VectorNd

template<int N>

using fcl::VectorNd = typedef VectorN<double, N>

Definition at line 113 of file types.h.

VectorNf

template<int N>

using fcl::VectorNf = typedef VectorN<float, N>

Definition at line 102 of file types.h.

VectorX

template<typename S >

using fcl::VectorX = typedef Eigen::Matrix<S, Eigen::Dynamic, 1>

Definition at line 82 of file types.h.

VectorXd

using fcl::VectorXd = typedef VectorX<double>

Definition at line 114 of file types.h.

VectorXf

using fcl::VectorXf = typedef VectorX<float>

Definition at line 103 of file types.h.

Enumeration Type Documentation

BVHBuildState

enum fcl::BVHBuildState

States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... | |-> update_begun -> updated -> .....

Enumerator
BVH_BUILD_STATE_EMPTY
BVH_BUILD_STATE_BEGUN	empty state, immediately after constructor
BVH_BUILD_STATE_PROCESSED	after beginModel(), state for adding geometry primitives
BVH_BUILD_STATE_UPDATE_BEGUN	after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATED	after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_REPLACE_BEGUN	after tree has been build for updated geometry, ready for ccd use

Definition at line 50 of file BVH_internal.h.

BVHModelType

enum fcl::BVHModelType

BVH model type.

Enumerator
BVH_MODEL_UNKNOWN
BVH_MODEL_TRIANGLES	unknown model type
BVH_MODEL_POINTCLOUD	triangle model point cloud model

Definition at line 75 of file BVH_internal.h.

BVHReturnCode

enum fcl::BVHReturnCode

Error code for BVH.

Enumerator
BVH_OK
BVH_ERR_MODEL_OUT_OF_MEMORY	BVH is valid.
BVH_ERR_BUILD_OUT_OF_SEQUENCE	Cannot allocate memory for vertices and triangles.
BVH_ERR_BUILD_EMPTY_MODEL	BVH construction does not follow correct sequence.
BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME	BVH geometry is not prepared.
BVH_ERR_UNSUPPORTED_FUNCTION	BVH geometry in previous frame is not prepared.
BVH_ERR_UNUPDATED_MODEL	BVH funtion is not supported.
BVH_ERR_INCORRECT_DATA	BVH model update failed.
BVH_ERR_UNKNOWN	BVH data is not valid.

Definition at line 61 of file BVH_internal.h.

CCDMotionType

enum fcl::CCDMotionType

Enumerator
CCDM_TRANS
CCDM_LINEAR
CCDM_SCREW
CCDM_SPLINE

Definition at line 48 of file continuous_collision_request.h.

CCDSolverType

enum fcl::CCDSolverType

Enumerator
CCDC_NAIVE
CCDC_CONSERVATIVE_ADVANCEMENT
CCDC_RAY_SHOOTING
CCDC_POLYNOMIAL_SOLVER

Definition at line 49 of file continuous_collision_request.h.

FinalizeModel

enum fcl::FinalizeModel

strong

enum class used to indicate whether we simply want to add more primitives to the model or finalize it.

Enumerator
DO
DONT

Definition at line 59 of file geometric_shape_to_BVH_model.h.

GJKSolverType

enum fcl::GJKSolverType

Type of narrow phase GJK solver.

Enumerator
GST_LIBCCD
GST_INDEP

Definition at line 45 of file gjk_solver_type.h.

MatrixCompareType

enum fcl::MatrixCompareType

strong

Enumerator
absolute
relative

Definition at line 50 of file eigen_matrix_compare.h.

NODE_TYPE

enum fcl::NODE_TYPE

traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, halfspace, triangle), and octree

Enumerator
BV_UNKNOWN
BV_AABB
BV_OBB
BV_RSS
BV_kIOS
BV_OBBRSS
BV_KDOP16
BV_KDOP18
BV_KDOP24
GEOM_BOX
GEOM_SPHERE
GEOM_ELLIPSOID
GEOM_CAPSULE
GEOM_CONE
GEOM_CYLINDER
GEOM_CONVEX
GEOM_PLANE
GEOM_HALFSPACE
GEOM_TRIANGLE
GEOM_OCTREE
NODE_COUNT

Definition at line 53 of file collision_geometry.h.

OBJECT_TYPE

enum fcl::OBJECT_TYPE

object type: BVH (mesh, points), basic geometry, octree

Enumerator
OT_UNKNOWN
OT_BVH
OT_GEOM
OT_OCTREE
OT_COUNT

Definition at line 50 of file collision_geometry.h.

Function Documentation

addTriangles()

template<typename BV >

int fcl::addTriangles	(	BVHModel< BV > &	model,
		const std::vector< Vector3< typename BV::S >> &	points,
		const std::vector< Triangle > &	tri_indices,
		FinalizeModel	finalize_model
	)

Definition at line 49 of file geometric_shape_to_BVH_model-inl.h.

axisFromEigen() [1/4]

template<typename S >

FCL_EXPORT void fcl::axisFromEigen	(	const Matrix3< S > &	eigenV,
		const Vector3< S > &	eigenS,
		Matrix3< S > &	axis
	)

Definition at line 567 of file geometry-inl.h.

axisFromEigen() [2/4]

template<typename S >

FCL_EXPORT void fcl::axisFromEigen	(	const Matrix3< S > &	eigenV,
		const Vector3< S > &	eigenS,
		Transform3< S > &	tf
	)

Definition at line 607 of file geometry-inl.h.

axisFromEigen() [3/4]

template void fcl::axisFromEigen	(	const Matrix3d &	eigenV,
		const Vector3d &	eigenS,
		Matrix3d &	axis
	)

axisFromEigen() [4/4]

template void fcl::axisFromEigen	(	const Matrix3d &	eigenV,
		const Vector3d &	eigenS,
		Transform3d &	tf
	)

bound() [1/12]

template Interval< double > fcl::bound	(	const Interval< double > &	i,
		const Interval< double > &	other
	)

bound() [2/12]

template Interval< double > fcl::bound	(	const Interval< double > &	i,
		double	v
	)

bound() [3/12]

template<typename S >

FCL_EXPORT Interval<S> fcl::bound	(	const Interval< S > &	i,
		const Interval< S > &	other
	)

Definition at line 427 of file interval-inl.h.

bound() [4/12]

template<typename S >

Interval<S> fcl::bound	(	const Interval< S > &	i,
		const Interval< S > &	other
	)

Definition at line 427 of file interval-inl.h.

bound() [5/12]

template<typename S >

FCL_EXPORT Interval<S> fcl::bound	(	const Interval< S > &	i,
		S	v
	)

Definition at line 417 of file interval-inl.h.

bound() [6/12]

template<typename S >

Interval<S> fcl::bound	(	const Interval< S > &	i,
		S	v
	)

Definition at line 417 of file interval-inl.h.

bound() [7/12]

template IVector3< double > fcl::bound	(	const IVector3< double > &	i,
		const IVector3< double > &	v
	)

bound() [8/12]

template IVector3< double > fcl::bound	(	const IVector3< double > &	i,
		const Vector3< double > &	v
	)

bound() [9/12]

template<typename S >

FCL_EXPORT IVector3<S> fcl::bound	(	const IVector3< S > &	i,
		const IVector3< S > &	v
	)

Definition at line 338 of file interval_vector-inl.h.

bound() [10/12]

template<typename S >

IVector3<S> fcl::bound	(	const IVector3< S > &	i,
		const IVector3< S > &	v
	)

Definition at line 338 of file interval_vector-inl.h.

bound() [11/12]

template<typename S >

FCL_EXPORT IVector3<S> fcl::bound	(	const IVector3< S > &	i,
		const Vector3< S > &	v
	)

Definition at line 354 of file interval_vector-inl.h.

bound() [12/12]

template<typename S >

IVector3<S> fcl::bound	(	const IVector3< S > &	i,
		const Vector3< S > &	v
	)

Definition at line 354 of file interval_vector-inl.h.

BVHExpand() [1/5]

template<typename S , typename BV >

FCL_EXPORT void fcl::BVHExpand	(	BVHModel< BV > &	model,
		const Variance3< S > *	ucs,
		S	r
	)

Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node.

Definition at line 61 of file BVH_utility-inl.h.

BVHExpand() [2/5]

template void fcl::BVHExpand	(	BVHModel< OBB< double >> &	model,
		const Variance3< double > *	ucs,
		double	r
	)

BVHExpand() [3/5]

template<typename S >

FCL_EXPORT void fcl::BVHExpand	(	BVHModel< OBB< S >> &	model,
		const Variance3< S > *	ucs,
		S	r
	)

Expand the BVH bounding boxes according to the corresponding variance information, for OBB.

Definition at line 89 of file BVH_utility-inl.h.

BVHExpand() [4/5]

template void fcl::BVHExpand	(	BVHModel< RSS< double >> &	model,
		const Variance3< double > *	ucs,
		double	r
	)

BVHExpand() [5/5]

template<typename S >

FCL_EXPORT void fcl::BVHExpand	(	BVHModel< RSS< S >> &	model,
		const Variance3< S > *	ucs,
		S	r
	)

Expand the BVH bounding boxes according to the corresponding variance information, for RSS.

Definition at line 133 of file BVH_utility-inl.h.

circumCircleComputation() [1/2]

template<typename S >

FCL_EXPORT void fcl::circumCircleComputation	(	const Vector3< S > &	a,
		const Vector3< S > &	b,
		const Vector3< S > &	c,
		Vector3< S > &	center,
		S &	radius
	)

Compute the center and radius for a triangle's circumcircle.

Definition at line 1278 of file geometry-inl.h.

circumCircleComputation() [2/2]

template void fcl::circumCircleComputation	(	const Vector3d &	a,
		const Vector3d &	b,
		const Vector3d &	c,
		Vector3d &	center,
		double &	radius
	)

clipToRange() [1/3]

template void fcl::clipToRange	(	double &	val,
		double	a,
		double	b
	)

clipToRange() [2/3]

template<typename S >

FCL_EXPORT void fcl::clipToRange	(	S &	val,
		S	a,
		S	b
	)

Clip value between a and b.

Definition at line 450 of file RSS-inl.h.

clipToRange() [3/3]

template<typename S >

void fcl::clipToRange	(	S &	val,
		S	a,
		S	b
	)

Clip value between a and b.

Definition at line 450 of file RSS-inl.h.

collide() [1/8]

template std::size_t fcl::collide	(	const CollisionGeometry< double > *	o1,
		const Transform3< double > &	tf1,
		const CollisionGeometry< double > *	o2,
		const Transform3< double > &	tf2,
		const CollisionRequest< double > &	request,
		CollisionResult< double > &	result
	)

collide() [2/8]

template<typename S >

FCL_EXPORT std::size_t fcl::collide	(	const CollisionGeometry< S > *	o1,
		const Transform3< S > &	tf1,
		const CollisionGeometry< S > *	o2,
		const Transform3< S > &	tf2,
		const CollisionRequest< S > &	request,
		CollisionResult< S > &	result
	)

Definition at line 180 of file collision-inl.h.

collide() [3/8]

template<typename S , typename NarrowPhaseSolver >

FCL_EXPORT std::size_t fcl::collide	(	const CollisionGeometry< S > *	o1,
		const Transform3< S > &	tf1,
		const CollisionGeometry< S > *	o2,
		const Transform3< S > &	tf2,
		const NarrowPhaseSolver *	nsolver_,
		const CollisionRequest< S > &	request,
		CollisionResult< S > &	result
	)

Definition at line 95 of file collision-inl.h.

collide() [4/8]

template std::size_t fcl::collide	(	const CollisionObject< double > *	o1,
		const CollisionObject< double > *	o2,
		const CollisionRequest< double > &	request,
		CollisionResult< double > &	result
	)

collide() [5/8]

template<typename S >

FCL_EXPORT std::size_t fcl::collide	(	const CollisionObject< S > *	o1,
		const CollisionObject< S > *	o2,
		const CollisionRequest< S > &	request,
		CollisionResult< S > &	result
	)

Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects.

Definition at line 154 of file collision-inl.h.

collide() [6/8]

template<typename S , typename NarrowPhaseSolver >

FCL_EXPORT std::size_t fcl::collide	(	const CollisionObject< S > *	o1,
		const CollisionObject< S > *	o2,
		const NarrowPhaseSolver *	nsolver,
		const CollisionRequest< S > &	request,
		CollisionResult< S > &	result
	)

Definition at line 81 of file collision-inl.h.

collide() [7/8]

template double fcl::collide	(	const ContinuousCollisionObject< double > *	o1,
		const ContinuousCollisionObject< double > *	o2,
		const ContinuousCollisionRequest< double > &	request,
		ContinuousCollisionResult< double > &	result
	)

collide() [8/8]

template<typename S >

FCL_EXPORT S fcl::collide	(	const ContinuousCollisionObject< S > *	o1,
		const ContinuousCollisionObject< S > *	o2,
		const ContinuousCollisionRequest< S > &	request,
		ContinuousCollisionResult< S > &	result
	)

Definition at line 472 of file continuous_collision-inl.h.

combine()

template<typename S , int M, int N>

FCL_EXPORT VectorN< S, M+N > fcl::combine	(	const VectorN< S, M > &	v1,
		const VectorN< S, N > &	v2
	)

Definition at line 441 of file geometry-inl.h.

CompareMatrices()

template<typename DerivedA , typename DerivedB >

::testing::AssertionResult fcl::CompareMatrices	(	const Eigen::MatrixBase< DerivedA > &	m1,
		const Eigen::MatrixBase< DerivedB > &	m2,
		double	tolerance = 0.0,
		MatrixCompareType	compare_type = MatrixCompareType::absolute
	)

Compares two matrices to determine whether they are equal to within a certain threshold.

Parameters

m1	The first matrix to compare.
m2	The second matrix to compare.
tolerance	The tolerance for determining equivalence.
compare_type	Whether the tolerance is absolute or relative.

Returns

true if the two matrices are equal based on the specified tolerance.

Definition at line 63 of file eigen_matrix_compare.h.

comparePenDepth() [1/3]

template bool fcl::comparePenDepth	(	const ContactPoint< double > &	_cp1,
		const ContactPoint< double > &	_cp2
	)

comparePenDepth() [2/3]

template<typename S >

FCL_EXPORT bool fcl::comparePenDepth	(	const ContactPoint< S > &	_cp1,
		const ContactPoint< S > &	_cp2
	)

Return true if _cp1's penentration depth is less than _cp2's.

Definition at line 80 of file contact_point-inl.h.

comparePenDepth() [3/3]

template<typename S >

bool fcl::comparePenDepth	(	const ContactPoint< S > &	_cp1,
		const ContactPoint< S > &	_cp2
	)

Return true if _cp1's penentration depth is less than _cp2's.

Definition at line 80 of file contact_point-inl.h.

computeBV()

template<typename BV , typename Shape >

FCL_EXPORT void fcl::computeBV	(	const Shape &	s,
		const Transform3< typename BV::S > &	tf,
		BV &	bv
	)

calculate a bounding volume for a shape in a specific configuration

Definition at line 1056 of file geometry/shape/utility-inl.h.

computeVertices() [1/3]

template void fcl::computeVertices	(	const OBB< double > &	b,
		Vector3< double >	vertices[8]
	)

computeVertices() [2/3]

template<typename S >

FCL_EXPORT void fcl::computeVertices	(	const OBB< S > &	b,
		Vector3< S >	vertices[8]
	)

Compute the 8 vertices of a OBB.

Definition at line 233 of file OBB-inl.h.

computeVertices() [3/3]

template<typename S >

void fcl::computeVertices	(	const OBB< S > &	b,
		Vector3< S >	vertices[8]
	)

Compute the 8 vertices of a OBB.

Definition at line 233 of file OBB-inl.h.

constructBox() [1/48]

template void fcl::constructBox	(	const AABB< double > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [2/48]

template void fcl::constructBox	(	const AABB< double > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [3/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const AABB< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

construct a box shape (with a configuration) from a given bounding volume

Definition at line 1065 of file geometry/shape/utility-inl.h.

constructBox() [4/48]

template<typename S >

void fcl::constructBox	(	const AABB< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

construct a box shape (with a configuration) from a given bounding volume

Definition at line 1065 of file geometry/shape/utility-inl.h.

constructBox() [5/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const AABB< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1137 of file geometry/shape/utility-inl.h.

constructBox() [6/48]

template<typename S >

void fcl::constructBox	(	const AABB< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1137 of file geometry/shape/utility-inl.h.

constructBox() [7/48]

template void fcl::constructBox	(	const KDOP< double, 16 > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [8/48]

template void fcl::constructBox	(	const KDOP< double, 16 > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [9/48]

template void fcl::constructBox	(	const KDOP< double, 18 > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [10/48]

template void fcl::constructBox	(	const KDOP< double, 18 > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [11/48]

template void fcl::constructBox	(	const KDOP< double, 24 > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [12/48]

template void fcl::constructBox	(	const KDOP< double, 24 > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [13/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const KDOP< S, 16 > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1110 of file geometry/shape/utility-inl.h.

constructBox() [14/48]

template<typename S >

void fcl::constructBox	(	const KDOP< S, 16 > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1110 of file geometry/shape/utility-inl.h.

constructBox() [15/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const KDOP< S, 16 > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1187 of file geometry/shape/utility-inl.h.

constructBox() [16/48]

template<typename S >

void fcl::constructBox	(	const KDOP< S, 16 > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1187 of file geometry/shape/utility-inl.h.

constructBox() [17/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const KDOP< S, 18 > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1119 of file geometry/shape/utility-inl.h.

constructBox() [18/48]

template<typename S >

void fcl::constructBox	(	const KDOP< S, 18 > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1119 of file geometry/shape/utility-inl.h.

constructBox() [19/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const KDOP< S, 18 > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1195 of file geometry/shape/utility-inl.h.

constructBox() [20/48]

template<typename S >

void fcl::constructBox	(	const KDOP< S, 18 > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1195 of file geometry/shape/utility-inl.h.

constructBox() [21/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const KDOP< S, 24 > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1128 of file geometry/shape/utility-inl.h.

constructBox() [22/48]

template<typename S >

void fcl::constructBox	(	const KDOP< S, 24 > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1128 of file geometry/shape/utility-inl.h.

constructBox() [23/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const KDOP< S, 24 > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1203 of file geometry/shape/utility-inl.h.

constructBox() [24/48]

template<typename S >

void fcl::constructBox	(	const KDOP< S, 24 > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1203 of file geometry/shape/utility-inl.h.

constructBox() [25/48]

template void fcl::constructBox	(	const kIOS< double > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [26/48]

template void fcl::constructBox	(	const kIOS< double > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [27/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const kIOS< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1092 of file geometry/shape/utility-inl.h.

constructBox() [28/48]

template<typename S >

void fcl::constructBox	(	const kIOS< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1092 of file geometry/shape/utility-inl.h.

constructBox() [29/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const kIOS< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1166 of file geometry/shape/utility-inl.h.

constructBox() [30/48]

template<typename S >

void fcl::constructBox	(	const kIOS< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1166 of file geometry/shape/utility-inl.h.

constructBox() [31/48]

template void fcl::constructBox	(	const OBB< double > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [32/48]

template void fcl::constructBox	(	const OBB< double > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [33/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const OBB< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1074 of file geometry/shape/utility-inl.h.

constructBox() [34/48]

template<typename S >

void fcl::constructBox	(	const OBB< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1074 of file geometry/shape/utility-inl.h.

constructBox() [35/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const OBB< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1145 of file geometry/shape/utility-inl.h.

constructBox() [36/48]

template<typename S >

void fcl::constructBox	(	const OBB< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1145 of file geometry/shape/utility-inl.h.

constructBox() [37/48]

template void fcl::constructBox	(	const OBBRSS< double > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [38/48]

template void fcl::constructBox	(	const OBBRSS< double > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [39/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const OBBRSS< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1083 of file geometry/shape/utility-inl.h.

constructBox() [40/48]

template<typename S >

void fcl::constructBox	(	const OBBRSS< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1083 of file geometry/shape/utility-inl.h.

constructBox() [41/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const OBBRSS< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1156 of file geometry/shape/utility-inl.h.

constructBox() [42/48]

template<typename S >

void fcl::constructBox	(	const OBBRSS< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1156 of file geometry/shape/utility-inl.h.

constructBox() [43/48]

template void fcl::constructBox	(	const RSS< double > &	bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [44/48]

template void fcl::constructBox	(	const RSS< double > &	bv,
		const Transform3< double > &	tf_bv,
		Box< double > &	box,
		Transform3< double > &	tf
	)

constructBox() [45/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const RSS< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1101 of file geometry/shape/utility-inl.h.

constructBox() [46/48]

template<typename S >

void fcl::constructBox	(	const RSS< S > &	bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1101 of file geometry/shape/utility-inl.h.

constructBox() [47/48]

template<typename S >

FCL_EXPORT void fcl::constructBox	(	const RSS< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1177 of file geometry/shape/utility-inl.h.

constructBox() [48/48]

template<typename S >

void fcl::constructBox	(	const RSS< S > &	bv,
		const Transform3< S > &	tf_bv,
		Box< S > &	box,
		Transform3< S > &	tf
	)

Definition at line 1177 of file geometry/shape/utility-inl.h.

continuousCollide() [1/6]

template double fcl::continuousCollide	(	const CollisionGeometry< double > *	o1,
		const MotionBase< double > *	motion1,
		const CollisionGeometry< double > *	o2,
		const MotionBase< double > *	motion2,
		const ContinuousCollisionRequest< double > &	request,
		ContinuousCollisionResult< double > &	result
	)

continuousCollide() [2/6]

template double fcl::continuousCollide	(	const CollisionGeometry< double > *	o1,
		const Transform3< double > &	tf1_beg,
		const Transform3< double > &	tf1_end,
		const CollisionGeometry< double > *	o2,
		const Transform3< double > &	tf2_beg,
		const Transform3< double > &	tf2_end,
		const ContinuousCollisionRequest< double > &	request,
		ContinuousCollisionResult< double > &	result
	)

continuousCollide() [3/6]

template<typename S >

FCL_EXPORT S fcl::continuousCollide	(	const CollisionGeometry< S > *	o1,
		const MotionBase< S > *	motion1,
		const CollisionGeometry< S > *	o2,
		const MotionBase< S > *	motion2,
		const ContinuousCollisionRequest< S > &	request,
		ContinuousCollisionResult< S > &	result
	)

continous collision checking between two objects

Definition at line 387 of file continuous_collision-inl.h.

continuousCollide() [4/6]

template<typename S >

FCL_EXPORT S fcl::continuousCollide	(	const CollisionGeometry< S > *	o1,
		const Transform3< S > &	tf1_beg,
		const Transform3< S > &	tf1_end,
		const CollisionGeometry< S > *	o2,
		const Transform3< S > &	tf2_beg,
		const Transform3< S > &	tf2_end,
		const ContinuousCollisionRequest< S > &	request,
		ContinuousCollisionResult< S > &	result
	)

Definition at line 437 of file continuous_collision-inl.h.

continuousCollide() [5/6]

template double fcl::continuousCollide	(	const CollisionObject< double > *	o1,
		const Transform3< double > &	tf1_end,
		const CollisionObject< double > *	o2,
		const Transform3< double > &	tf2_end,
		const ContinuousCollisionRequest< double > &	request,
		ContinuousCollisionResult< double > &	result
	)

continuousCollide() [6/6]

template<typename S >

FCL_EXPORT S fcl::continuousCollide	(	const CollisionObject< S > *	o1,
		const Transform3< S > &	tf1_end,
		const CollisionObject< S > *	o2,
		const Transform3< S > &	tf2_end,
		const ContinuousCollisionRequest< S > &	request,
		ContinuousCollisionResult< S > &	result
	)

Definition at line 456 of file continuous_collision-inl.h.

continuousCollideBVHPolynomial()

template<typename S >

FCL_EXPORT S fcl::continuousCollideBVHPolynomial	(	const CollisionGeometry< S > *	o1,
		const TranslationMotion< S > *	motion1,
		const CollisionGeometry< S > *	o2,
		const TranslationMotion< S > *	motion2,
		const ContinuousCollisionRequest< S > &	request,
		ContinuousCollisionResult< S > &	result
	)

Definition at line 248 of file continuous_collision-inl.h.

continuousCollideConservativeAdvancement()

template<typename S >

FCL_EXPORT S fcl::continuousCollideConservativeAdvancement	(	const CollisionGeometry< S > *	o1,
		const MotionBase< S > *	motion1,
		const CollisionGeometry< S > *	o2,
		const MotionBase< S > *	motion2,
		const ContinuousCollisionRequest< S > &	request,
		ContinuousCollisionResult< S > &	result
	)

Definition at line 359 of file continuous_collision-inl.h.

continuousCollideNaive()

template<typename S >

FCL_EXPORT S fcl::continuousCollideNaive	(	const CollisionGeometry< S > *	o1,
		const MotionBase< S > *	motion1,
		const CollisionGeometry< S > *	o2,
		const MotionBase< S > *	motion2,
		const ContinuousCollisionRequest< S > &	request,
		ContinuousCollisionResult< S > &	result
	)

Definition at line 136 of file continuous_collision-inl.h.

convertBV()

template<typename BV1 , typename BV2 >

FCL_EXPORT void fcl::convertBV	(	const BV1 &	bv1,
		const Transform3< typename BV1::S > &	tf1,
		BV2 &	bv2
	)

Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration.

Definition at line 973 of file math/bv/utility-inl.h.

DefaultCollisionFunction()

template<typename S >

bool fcl::DefaultCollisionFunction	(	CollisionObject< S > *	o1,
		CollisionObject< S > *	o2,
		void *	data
	)

Provides a simple callback for the collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultCollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's CollisionResult instance.

This callback will cause the broadphase evaluation to stop if:

• the collision requests disables cost and
• the collide() reports a collision for the culled pair, and
• we've reported the number of contacts requested in the CollisionRequest.

For a given instance of DefaultCollisionData, if broadphase evaluation has already terminated (i.e., DefaultCollisionFunction() returned true), subsequent invocations with the same instance of DefaultCollisionData will return immediately, requesting termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a DefaultCollisionData instance.

Returns

true if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

Definition at line 88 of file default_broadphase_callbacks.h.

DefaultContinuousCollisionFunction()

template<typename S >

bool fcl::DefaultContinuousCollisionFunction	(	ContinuousCollisionObject< S > *	o1,
		ContinuousCollisionObject< S > *	o2,
		void *	data
	)

Provides a simple callback for the continuous collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultContinuousCollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's ContinuousCollisionResult instance.

This callback will never cause the broadphase evaluation to terminate early. However, if the done member of the DefaultContinuousCollisionData is set to true, this method will simply return without doing any computation.

For a given instance of DefaultContinuousCollisionData, if broadphase evaluation has already terminated (i.e., DefaultContinuousCollisionFunction() returned true), subsequent invocations with the same instance of DefaultCollisionData will return immediately, requesting termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a DefaultCollisionData instance.

Returns

True if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

Definition at line 145 of file default_broadphase_callbacks.h.

DefaultDistanceFunction()

template<typename S >

bool fcl::DefaultDistanceFunction	(	CollisionObject< S > *	o1,
		CollisionObject< S > *	o2,
		void *	data,
		S &	dist
	)

Provides a simple callback for the distance query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of DefaultDistanceData. It simply invokes the distance() method on the culled pair of geometries and stores the results in the data's DistanceResult instance.

This callback will cause the broadphase evaluation to stop if:

• The distance is less than or equal to zero (i.e., the pair is in contact).

For a given instance of DefaultDistanceData, if broadphase evaluation has already terminated (i.e., DefaultDistanceFunction() returned true), subsequent invocations with the same instance of DefaultDistanceData will simply report the previously reported minimum distance and request termination of broadphase evaluation (i.e., return true).

Parameters

o1	The first object in the culled pair.
o2	The second object in the culled pair.
data	A non-null pointer to a DefaultDistanceData instance.
dist	The distance computed by distance().

Returns

true if the broadphase evaluation should stop.

Template Parameters

S	The scalar type with which the computation will be performed.

Definition at line 196 of file default_broadphase_callbacks.h.

distance() [1/17]

template double fcl::distance	(	const CollisionGeometry< double > *	o1,
		const Transform3< double > &	tf1,
		const CollisionGeometry< double > *	o2,
		const Transform3< double > &	tf2,
		const DistanceRequest< double > &	request,
		DistanceResult< double > &	result
	)

distance() [2/17]

template<typename S >

FCL_EXPORT S fcl::distance	(	const CollisionGeometry< S > *	o1,
		const Transform3< S > &	tf1,
		const CollisionGeometry< S > *	o2,
		const Transform3< S > &	tf2,
		const DistanceRequest< S > &	request,
		DistanceResult< S > &	result
	)

Definition at line 224 of file distance-inl.h.

distance() [3/17]

template<typename S >

S fcl::distance	(	const CollisionGeometry< S > *	o1,
		const Transform3< S > &	tf1,
		const CollisionGeometry< S > *	o2,
		const Transform3< S > &	tf2,
		const DistanceRequest< S > &	request,
		DistanceResult< S > &	result
	)

Definition at line 224 of file distance-inl.h.

distance() [4/17]

template<typename NarrowPhaseSolver >

NarrowPhaseSolver::S fcl::distance	(	const CollisionGeometry< typename NarrowPhaseSolver::S > *	o1,
		const Transform3< typename NarrowPhaseSolver::S > &	tf1,
		const CollisionGeometry< typename NarrowPhaseSolver::S > *	o2,
		const Transform3< typename NarrowPhaseSolver::S > &	tf2,
		const NarrowPhaseSolver *	nsolver_,
		const DistanceRequest< typename NarrowPhaseSolver::S > &	request,
		DistanceResult< typename NarrowPhaseSolver::S > &	result
	)

Definition at line 92 of file distance-inl.h.

distance() [5/17]

template double fcl::distance	(	const CollisionObject< double > *	o1,
		const CollisionObject< double > *	o2,
		const DistanceRequest< double > &	request,
		DistanceResult< double > &	result
	)

distance() [6/17]

template<typename S >

FCL_EXPORT S fcl::distance	(	const CollisionObject< S > *	o1,
		const CollisionObject< S > *	o2,
		const DistanceRequest< S > &	request,
		DistanceResult< S > &	result
	)

Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects.

Definition at line 197 of file distance-inl.h.

distance() [7/17]

template<typename S >

S fcl::distance	(	const CollisionObject< S > *	o1,
		const CollisionObject< S > *	o2,
		const DistanceRequest< S > &	request,
		DistanceResult< S > &	result
	)

Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects.

Definition at line 197 of file distance-inl.h.

distance() [8/17]

template<typename NarrowPhaseSolver >

NarrowPhaseSolver::S fcl::distance	(	const CollisionObject< typename NarrowPhaseSolver::S > *	o1,
		const CollisionObject< typename NarrowPhaseSolver::S > *	o2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest< typename NarrowPhaseSolver::S > &	request,
		DistanceResult< typename NarrowPhaseSolver::S > &	result
	)

Definition at line 73 of file distance-inl.h.

distance() [9/17]

template<typename S , typename DerivedA , typename DerivedB >

S fcl::distance	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const kIOS< S > &	b1,
		const kIOS< S > &	b2,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Approximate distance between two kIOS bounding volumes.

Todo:

P and Q is not returned, need implementation

Definition at line 266 of file kIOS-inl.h.

distance() [10/17]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT S fcl::distance	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const kIOS< S > &	b1,
		const kIOS< S > &	b2,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Approximate distance between two kIOS bounding volumes.

Todo:

P and Q is not returned, need implementation

Definition at line 266 of file kIOS-inl.h.

distance() [11/17]

template<typename S , typename DerivedA , typename DerivedB >

S fcl::distance	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const OBBRSS< S > &	b1,
		const OBBRSS< S > &	b2,
		Vector3< S > *	P,
		Vector3< S > *	Q
	)

Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not nullptr, returns the nearest points.

Definition at line 164 of file OBBRSS-inl.h.

distance() [12/17]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT S fcl::distance	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const OBBRSS< S > &	b1,
		const OBBRSS< S > &	b2,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not nullptr, returns the nearest points.

Definition at line 164 of file OBBRSS-inl.h.

distance() [13/17]

template<typename S , typename DerivedA , typename DerivedB >

S fcl::distance	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const RSS< S > &	b1,
		const RSS< S > &	b2,
		Vector3< S > *	P,
		Vector3< S > *	Q
	)

distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points. Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)

Definition at line 1957 of file RSS-inl.h.

distance() [14/17]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT S fcl::distance	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const RSS< S > &	b1,
		const RSS< S > &	b2,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points. Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)

Definition at line 1957 of file RSS-inl.h.

distance() [15/17]

template<typename S >

S fcl::distance	(	const Transform3< S > &	tf,
		const kIOS< S > &	b1,
		const kIOS< S > &	b2,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Approximate distance between two kIOS bounding volumes.

Todo:

P and Q is not returned, need implementation

Definition at line 281 of file kIOS-inl.h.

distance() [16/17]

template<typename S >

FCL_EXPORT S fcl::distance	(	const Transform3< S > &	tf,
		const kIOS< S > &	b1,
		const kIOS< S > &	b2,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Approximate distance between two kIOS bounding volumes.

Todo:

P and Q is not returned, need implementation

Definition at line 281 of file kIOS-inl.h.

distance() [17/17]

template<typename S >

FCL_EXPORT S fcl::distance	(	const Transform3< S > &	tf,
		const OBBRSS< S > &	b1,
		const OBBRSS< S > &	b2,
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not nullptr, returns the nearest points.

eigen() [1/2]

template<typename S >

FCL_EXPORT void fcl::eigen	(	const Matrix3< S > &	m,
		Vector3< S > &	dout,
		Matrix3< S > &	vout
	)

compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors

Definition at line 461 of file geometry-inl.h.

eigen() [2/2]

template void fcl::eigen	(	const Matrix3d &	m,
		Vector3d &	dout,
		Matrix3d &	vout
	)

eigen_old() [1/2]

template<typename S >

FCL_EXPORT void fcl::eigen_old	(	const Matrix3< S > &	m,
		Vector3< S > &	dout,
		Matrix3< S > &	vout
	)

compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors

Definition at line 477 of file geometry-inl.h.

eigen_old() [2/2]

template void fcl::eigen_old	(	const Matrix3d &	m,
		Vector3d &	dout,
		Matrix3d &	vout
	)

fit()

template<typename BV >

FCL_EXPORT void fcl::fit	(	const Vector3< typename BV::S > *const	ps,
		int	n,
		BV &	bv
	)

Compute a bounding volume that fits a set of n points.

Definition at line 671 of file math/bv/utility-inl.h.

flipNormal() [1/3]

template void fcl::flipNormal

(

std::vector< ContactPoint< double >> &

contacts

)

flipNormal() [2/3]

template<typename S >

FCL_EXPORT void fcl::flipNormal

(

std::vector< ContactPoint< S >> &

contacts

)

Definition at line 87 of file contact_point-inl.h.

flipNormal() [3/3]

template<typename S >

void fcl::flipNormal

(

std::vector< ContactPoint< S >> &

contacts

)

Definition at line 87 of file contact_point-inl.h.

generateCoordinateSystem() [1/2]

template<typename S >

FCL_EXPORT Matrix3< S > fcl::generateCoordinateSystem

(

const Vector3< S > &

x_axis

)

compute orthogonal coordinate system basis with given x-axis.

Parameters

x_axis

Direction of x-axis. Must have non-zero length. For best results, length should be much greater than constants<S>::eps_12().

Returns

The coordinate system in a Matrix3. Column 0 will be the normalized x-axis. Columns 1 and 2 will be created orthogonal to the x-axis, and orthogonal to each other. Otherwise, the orientation of the y-axis and z-axis to the x-axis is arbitrary.

Definition at line 647 of file geometry-inl.h.

generateCoordinateSystem() [2/2]

template Matrix3d fcl::generateCoordinateSystem

(

const Vector3d &

x_axis

)

generateTaylorModelForCosFunc() [1/3]

template void fcl::generateTaylorModelForCosFunc	(	TaylorModel< double > &	tm,
		double	w,
		double	q0
	)

generateTaylorModelForCosFunc() [2/3]

template<typename S >

FCL_EXPORT void fcl::generateTaylorModelForCosFunc	(	TaylorModel< S > &	tm,
		S	w,
		S	q0
	)

Generate Taylor model for cos(w t + q0)

Definition at line 491 of file taylor_model-inl.h.

generateTaylorModelForCosFunc() [3/3]

template<typename S >

void fcl::generateTaylorModelForCosFunc	(	TaylorModel< S > &	tm,
		S	w,
		S	q0
	)

Generate Taylor model for cos(w t + q0)

Definition at line 491 of file taylor_model-inl.h.

generateTaylorModelForLinearFunc() [1/3]

template void fcl::generateTaylorModelForLinearFunc	(	TaylorModel< double > &	tm,
		double	p,
		double	v
	)

generateTaylorModelForLinearFunc() [2/3]

template<typename S >

FCL_EXPORT void fcl::generateTaylorModelForLinearFunc	(	TaylorModel< S > &	tm,
		S	p,
		S	v
	)

Generate Taylor model for p + v t.

Definition at line 634 of file taylor_model-inl.h.

generateTaylorModelForLinearFunc() [3/3]

template<typename S >

void fcl::generateTaylorModelForLinearFunc	(	TaylorModel< S > &	tm,
		S	p,
		S	v
	)

Generate Taylor model for p + v t.

Definition at line 634 of file taylor_model-inl.h.

generateTaylorModelForSinFunc() [1/3]

template void fcl::generateTaylorModelForSinFunc	(	TaylorModel< double > &	tm,
		double	w,
		double	q0
	)

generateTaylorModelForSinFunc() [2/3]

template<typename S >

FCL_EXPORT void fcl::generateTaylorModelForSinFunc	(	TaylorModel< S > &	tm,
		S	w,
		S	q0
	)

Generate Taylor model for sin(w t + q0)

Definition at line 562 of file taylor_model-inl.h.

generateTaylorModelForSinFunc() [3/3]

template<typename S >

void fcl::generateTaylorModelForSinFunc	(	TaylorModel< S > &	tm,
		S	w,
		S	q0
	)

Generate Taylor model for sin(w t + q0)

Definition at line 562 of file taylor_model-inl.h.

generateTVector3ForLinearFunc() [1/3]

template void fcl::generateTVector3ForLinearFunc	(	TVector3< double > &	v,
		const Vector3< double > &	position,
		const Vector3< double > &	velocity
	)

generateTVector3ForLinearFunc() [2/3]

template<typename S >

FCL_EXPORT void fcl::generateTVector3ForLinearFunc	(	TVector3< S > &	v,
		const Vector3< S > &	position,
		const Vector3< S > &	velocity
	)

Definition at line 356 of file taylor_vector-inl.h.

generateTVector3ForLinearFunc() [3/3]

template<typename S >

void fcl::generateTVector3ForLinearFunc	(	TVector3< S > &	v,
		const Vector3< S > &	position,
		const Vector3< S > &	velocity
	)

Definition at line 356 of file taylor_vector-inl.h.

getCollisionFunctionLookTable()

template<typename GJKSolver >

detail::CollisionFunctionMatrix<GJKSolver>& fcl::getCollisionFunctionLookTable

(

)

Definition at line 72 of file collision-inl.h.

getConservativeAdvancementFunctionLookTable()

template<typename GJKSolver >

detail::ConservativeAdvancementFunctionMatrix<GJKSolver>& fcl::getConservativeAdvancementFunctionLookTable

(

)

Definition at line 100 of file continuous_collision-inl.h.

getCovariance() [1/2]

template<typename S >

FCL_EXPORT void fcl::getCovariance	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Matrix3< S > &	M
	)

Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles.

Definition at line 1339 of file geometry-inl.h.

getCovariance() [2/2]

template void fcl::getCovariance	(	const Vector3d *const	ps,
		const Vector3d *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Matrix3d &	M
	)

getDistanceFunctionLookTable()

template<typename GJKSolver >

detail::DistanceFunctionMatrix<GJKSolver>& fcl::getDistanceFunctionLookTable

(

)

Definition at line 65 of file distance-inl.h.

getDistances()

template<typename S , std::size_t N>

FCL_EXPORT void fcl::getDistances	(	const Vector3< S > &	p,
		S *	d
	)

Compute the distances to planes with normals from KDOP vectors except those of AABB face planes.

Definition at line 350 of file kDOP-inl.h.

getDistances< double, 5 >()

template void fcl::getDistances< double, 5 >	(	const Vector3< double > &	p,
		double *	d
	)

getDistances< double, 6 >()

template void fcl::getDistances< double, 6 >	(	const Vector3< double > &	p,
		double *	d
	)

getDistances< double, 9 >()

template void fcl::getDistances< double, 9 >	(	const Vector3< double > &	p,
		double *	d
	)

getExtentAndCenter() [1/3]

template<typename S >

FCL_EXPORT void fcl::getExtentAndCenter	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Matrix3< S > &	axis,
		Vector3< S > &	center,
		Vector3< S > &	extent
	)

Compute the bounding volume extent and center for a set or subset of points, given the BV axises.

Definition at line 1320 of file geometry-inl.h.

getExtentAndCenter() [2/3]

template<typename S >

FCL_EXPORT void fcl::getExtentAndCenter	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Transform3< S > &	tf,
		Vector3< S > &	extent
	)

Compute the bounding volume extent and center for a set or subset of points, given the BV axises.

getExtentAndCenter() [3/3]

template void fcl::getExtentAndCenter	(	const Vector3d *const	ps,
		const Vector3d *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Matrix3d &	axis,
		Vector3d &	center,
		Vector3d &	extent
	)

getMotionBase()

template<typename S >

FCL_EXPORT MotionBasePtr<S> fcl::getMotionBase	(	const Transform3< S > &	tf_beg,
		const Transform3< S > &	tf_end,
		CCDMotionType	motion_type
	)

Definition at line 109 of file continuous_collision-inl.h.

getRadiusAndOriginAndRectangleSize() [1/4]

template<typename S >

FCL_EXPORT void fcl::getRadiusAndOriginAndRectangleSize	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Matrix3< S > &	axis,
		Vector3< S > &	origin,
		S	l[2],
		S &	r
	)

Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises.

Definition at line 713 of file geometry-inl.h.

getRadiusAndOriginAndRectangleSize() [2/4]

template<typename S >

FCL_EXPORT void fcl::getRadiusAndOriginAndRectangleSize	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Transform3< S > &	tf,
		S	l[2],
		S &	r
	)

Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises.

Definition at line 996 of file geometry-inl.h.

getRadiusAndOriginAndRectangleSize() [3/4]

template void fcl::getRadiusAndOriginAndRectangleSize	(	const Vector3d *const	ps,
		const Vector3d *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Matrix3d &	axis,
		Vector3d &	origin,
		double	l[2],
		double &	r
	)

getRadiusAndOriginAndRectangleSize() [4/4]

template void fcl::getRadiusAndOriginAndRectangleSize	(	const Vector3d *const	ps,
		const Vector3d *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Transform3d &	tf,
		double	l[2],
		double &	r
	)

hat() [1/2]

template<typename S >

FCL_EXPORT void fcl::hat	(	Matrix3< S > &	mat,
		const Vector3< S > &	vec
	)

Definition at line 453 of file geometry-inl.h.

hat() [2/2]

template void fcl::hat	(	Matrix3d &	mat,
		const Vector3d &	vec
	)

inVoronoi() [1/3]

template bool fcl::inVoronoi	(	double	a,
		double	b,
		double	Anorm_dot_B,
		double	Anorm_dot_T,
		double	A_dot_B,
		double	A_dot_T,
		double	B_dot_T
	)

inVoronoi() [2/3]

template<typename S >

FCL_EXPORT bool fcl::inVoronoi	(	S	a,
		S	b,
		S	Anorm_dot_B,
		S	Anorm_dot_T,
		S	A_dot_B,
		S	A_dot_T,
		S	B_dot_T
	)

Returns whether the nearest point on rectangle edge Pb + B*u, 0 <= u <= b, to the rectangle edge, Pa + A*t, 0 <= t <= a, is within the half space determined by the point Pa and the direction Anorm. A,B, and Anorm are unit vectors. T is the vector between Pa and Pb.

Definition at line 486 of file RSS-inl.h.

inVoronoi() [3/3]

template<typename S >

bool fcl::inVoronoi	(	S	a,
		S	b,
		S	Anorm_dot_B,
		S	Anorm_dot_T,
		S	A_dot_B,
		S	A_dot_T,
		S	B_dot_T
	)

Returns whether the nearest point on rectangle edge Pb + B*u, 0 <= u <= b, to the rectangle edge, Pa + A*t, 0 <= t <= a, is within the half space determined by the point Pa and the direction Anorm. A,B, and Anorm are unit vectors. T is the vector between Pa and Pb.

Definition at line 486 of file RSS-inl.h.

make_aligned_shared()

template<typename _Tp , typename... _Args>

std::shared_ptr<_Tp> fcl::make_aligned_shared ( _Args &&...  __args )

inline

Definition at line 187 of file types.h.

maximumDistance() [1/2]

template<typename S >

FCL_EXPORT S fcl::maximumDistance	(	const Vector3< S > *const	ps,
		const Vector3< S > *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Vector3< S > &	query
	)

Compute the maximum distance from a given center point to a point cloud.

Definition at line 1303 of file geometry-inl.h.

maximumDistance() [2/2]

template double fcl::maximumDistance	(	const Vector3d *const	ps,
		const Vector3d *const	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Vector3d &	query
	)

merge_largedist() [1/3]

template OBB< double > fcl::merge_largedist	(	const OBB< double > &	b1,
		const OBB< double > &	b2
	)

merge_largedist() [2/3]

template<typename S >

FCL_EXPORT OBB<S> fcl::merge_largedist	(	const OBB< S > &	b1,
		const OBB< S > &	b2
	)

OBB merge method when the centers of two smaller OBB are far away.

Definition at line 254 of file OBB-inl.h.

merge_largedist() [3/3]

template<typename S >

OBB<S> fcl::merge_largedist	(	const OBB< S > &	b1,
		const OBB< S > &	b2
	)

OBB merge method when the centers of two smaller OBB are far away.

Definition at line 254 of file OBB-inl.h.

merge_smalldist() [1/3]

template OBB< double > fcl::merge_smalldist	(	const OBB< double > &	b1,
		const OBB< double > &	b2
	)

merge_smalldist() [2/3]

template<typename S >

FCL_EXPORT OBB<S> fcl::merge_smalldist	(	const OBB< S > &	b1,
		const OBB< S > &	b2
	)

OBB merge method when the centers of two smaller OBB are close.

Definition at line 316 of file OBB-inl.h.

merge_smalldist() [3/3]

template<typename S >

OBB<S> fcl::merge_smalldist	(	const OBB< S > &	b1,
		const OBB< S > &	b2
	)

OBB merge method when the centers of two smaller OBB are close.

Definition at line 316 of file OBB-inl.h.

minmax() [1/4]

template void fcl::minmax	(	double	a,
		double	b,
		double &	minv,
		double &	maxv
	)

minmax() [2/4]

template void fcl::minmax	(	double	p,
		double &	minv,
		double &	maxv
	)

minmax() [3/4]

template<typename S >

FCL_EXPORT void fcl::minmax	(	S	a,
		S	b,
		S &	minv,
		S &	maxv
	)

Find the smaller and larger one of two values.

Definition at line 314 of file kDOP-inl.h.

minmax() [4/4]

template<typename S >

FCL_EXPORT void fcl::minmax	(	S	p,
		S &	minv,
		S &	maxv
	)

Merge the interval [minv, maxv] and value p/.

Definition at line 331 of file kDOP-inl.h.

normalize() [1/2]

template<typename S >

FCL_EXPORT void fcl::normalize	(	Vector3< S > &	v,
		bool *	signal
	)

Definition at line 413 of file geometry-inl.h.

normalize() [2/2]

template void fcl::normalize	(	Vector3d &	v,
		bool *	signal
	)

obbDisjoint() [1/6]

template bool fcl::obbDisjoint	(	const Matrix3< double > &	B,
		const Vector3< double > &	T,
		const Vector3< double > &	a,
		const Vector3< double > &	b
	)

obbDisjoint() [2/6]

template<typename S >

FCL_EXPORT bool fcl::obbDisjoint	(	const Matrix3< S > &	B,
		const Vector3< S > &	T,
		const Vector3< S > &	a,
		const Vector3< S > &	b
	)

Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b.

Definition at line 399 of file OBB-inl.h.

obbDisjoint() [3/6]

template<typename S >

bool fcl::obbDisjoint	(	const Matrix3< S > &	B,
		const Vector3< S > &	T,
		const Vector3< S > &	a,
		const Vector3< S > &	b
	)

Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b.

Definition at line 399 of file OBB-inl.h.

obbDisjoint() [4/6]

template bool fcl::obbDisjoint	(	const Transform3< double > &	tf,
		const Vector3< double > &	a,
		const Vector3< double > &	b
	)

obbDisjoint() [5/6]

template<typename S >

FCL_EXPORT bool fcl::obbDisjoint	(	const Transform3< S > &	tf,
		const Vector3< S > &	a,
		const Vector3< S > &	b
	)

Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b.

Definition at line 527 of file OBB-inl.h.

obbDisjoint() [6/6]

template<typename S >

bool fcl::obbDisjoint	(	const Transform3< S > &	tf,
		const Vector3< S > &	a,
		const Vector3< S > &	b
	)

Check collision between two boxes: the first box is in configuration (R, T) and its half dimension is set by a; the second box is in identity configuration and its half dimension is set by b.

Definition at line 527 of file OBB-inl.h.

operator*() [1/18]

template TMatrix3< double > fcl::operator*	(	const Matrix3< double > &	m,
		const TaylorModel< double > &	a
	)

operator*() [2/18]

template<typename S >

FCL_EXPORT TMatrix3<S> fcl::operator*	(	const Matrix3< S > &	m,
		const TaylorModel< S > &	a
	)

Definition at line 512 of file taylor_matrix-inl.h.

operator*() [3/18]

template<typename S >

TMatrix3<S> fcl::operator*	(	const Matrix3< S > &	m,
		const TaylorModel< S > &	a
	)

Definition at line 512 of file taylor_matrix-inl.h.

operator*() [4/18]

template TMatrix3< double > fcl::operator*	(	const TaylorModel< double > &	a,
		const Matrix3< double > &	m
	)

operator*() [5/18]

template TMatrix3< double > fcl::operator*	(	const TaylorModel< double > &	a,
		const TMatrix3< double > &	m
	)

operator*() [6/18]

template<typename S >

FCL_EXPORT TMatrix3<S> fcl::operator*	(	const TaylorModel< S > &	a,
		const Matrix3< S > &	m
	)

Definition at line 532 of file taylor_matrix-inl.h.

operator*() [7/18]

template<typename S >

TMatrix3<S> fcl::operator*	(	const TaylorModel< S > &	a,
		const Matrix3< S > &	m
	)

Definition at line 532 of file taylor_matrix-inl.h.

operator*() [8/18]

template<typename S >

FCL_EXPORT TMatrix3<S> fcl::operator*	(	const TaylorModel< S > &	a,
		const TMatrix3< S > &	m
	)

Definition at line 539 of file taylor_matrix-inl.h.

operator*() [9/18]

template<typename S >

TMatrix3<S> fcl::operator*	(	const TaylorModel< S > &	a,
		const TMatrix3< S > &	m
	)

Definition at line 539 of file taylor_matrix-inl.h.

operator*() [10/18]

template TVector3< double > fcl::operator*	(	const Vector3< double > &	v,
		const TaylorModel< double > &	a
	)

operator*() [11/18]

template<typename S >

FCL_EXPORT TVector3<S> fcl::operator*	(	const Vector3< S > &	v,
		const TaylorModel< S > &	a
	)

Definition at line 365 of file taylor_vector-inl.h.

operator*() [12/18]

template<typename S >

TVector3<S> fcl::operator*	(	const Vector3< S > &	v,
		const TaylorModel< S > &	a
	)

Definition at line 365 of file taylor_vector-inl.h.

operator*() [13/18]

template TaylorModel< double > fcl::operator*	(	double	d,
		const TaylorModel< double > &	a
	)

operator*() [14/18]

template TMatrix3< double > fcl::operator*	(	double	d,
		const TMatrix3< double > &	m
	)

operator*() [15/18]

template<typename S >

FCL_EXPORT TaylorModel<S> fcl::operator*	(	S	d,
		const TaylorModel< S > &	a
	)

Definition at line 464 of file taylor_model-inl.h.

operator*() [16/18]

template<typename S >

TaylorModel<S> fcl::operator*	(	S	d,
		const TaylorModel< S > &	a
	)

Definition at line 464 of file taylor_model-inl.h.

operator*() [17/18]

template<typename S >

FCL_EXPORT TMatrix3<S> fcl::operator*	(	S	d,
		const TMatrix3< S > &	m
	)

Definition at line 546 of file taylor_matrix-inl.h.

operator*() [18/18]

template<typename S >

TMatrix3<S> fcl::operator*	(	S	d,
		const TMatrix3< S > &	m
	)

Definition at line 546 of file taylor_matrix-inl.h.

operator+() [1/9]

template TMatrix3< double > fcl::operator+	(	const Matrix3< double > &	m1,
		const TMatrix3< double > &	m2
	)

operator+() [2/9]

template<typename S >

FCL_EXPORT TMatrix3<S> fcl::operator+	(	const Matrix3< S > &	m1,
		const TMatrix3< S > &	m2
	)

Definition at line 553 of file taylor_matrix-inl.h.

operator+() [3/9]

template<typename S >

TMatrix3<S> fcl::operator+	(	const Matrix3< S > &	m1,
		const TMatrix3< S > &	m2
	)

Definition at line 553 of file taylor_matrix-inl.h.

operator+() [4/9]

template TVector3< double > fcl::operator+	(	const Vector3< double > &	v1,
		const TVector3< double > &	v2
	)

operator+() [5/9]

template<typename S >

FCL_EXPORT TVector3<S> fcl::operator+	(	const Vector3< S > &	v1,
		const TVector3< S > &	v2
	)

Definition at line 377 of file taylor_vector-inl.h.

operator+() [6/9]

template<typename S >

TVector3<S> fcl::operator+	(	const Vector3< S > &	v1,
		const TVector3< S > &	v2
	)

Definition at line 377 of file taylor_vector-inl.h.

operator+() [7/9]

template TaylorModel< double > fcl::operator+	(	double	d,
		const TaylorModel< double > &	a
	)

operator+() [8/9]

template<typename S >

FCL_EXPORT TaylorModel<S> fcl::operator+	(	S	d,
		const TaylorModel< S > &	a
	)

Definition at line 477 of file taylor_model-inl.h.

operator+() [9/9]

template<typename S >

TaylorModel<S> fcl::operator+	(	S	d,
		const TaylorModel< S > &	a
	)

Definition at line 477 of file taylor_model-inl.h.

operator-() [1/9]

template TMatrix3< double > fcl::operator-	(	const Matrix3< double > &	m1,
		const TMatrix3< double > &	m2
	)

operator-() [2/9]

template<typename S >

FCL_EXPORT TMatrix3<S> fcl::operator-	(	const Matrix3< S > &	m1,
		const TMatrix3< S > &	m2
	)

Definition at line 560 of file taylor_matrix-inl.h.

operator-() [3/9]

template<typename S >

TMatrix3<S> fcl::operator-	(	const Matrix3< S > &	m1,
		const TMatrix3< S > &	m2
	)

Definition at line 560 of file taylor_matrix-inl.h.

operator-() [4/9]

template TVector3< double > fcl::operator-	(	const Vector3< double > &	v1,
		const TVector3< double > &	v2
	)

operator-() [5/9]

template<typename S >

FCL_EXPORT TVector3<S> fcl::operator-	(	const Vector3< S > &	v1,
		const TVector3< S > &	v2
	)

Definition at line 384 of file taylor_vector-inl.h.

operator-() [6/9]

template<typename S >

TVector3<S> fcl::operator-	(	const Vector3< S > &	v1,
		const TVector3< S > &	v2
	)

Definition at line 384 of file taylor_vector-inl.h.

operator-() [7/9]

template TaylorModel< double > fcl::operator-	(	double	d,
		const TaylorModel< double > &	a
	)

operator-() [8/9]

template<typename S >

FCL_EXPORT TaylorModel<S> fcl::operator-	(	S	d,
		const TaylorModel< S > &	a
	)

Definition at line 484 of file taylor_model-inl.h.

operator-() [9/9]

template<typename S >

TaylorModel<S> fcl::operator-	(	S	d,
		const TaylorModel< S > &	a
	)

Definition at line 484 of file taylor_model-inl.h.

operator<<()

std::ostream& fcl::operator<<	(	std::ostream &	out,
		const NODE_TYPE &	node
	)

Definition at line 55 of file test_collision_func_matrix.cpp.

overlap() [1/10]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const kIOS< S > &	b1,
		const kIOS< S > &	b2
	)

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:

Not efficient

Definition at line 249 of file kIOS-inl.h.

overlap() [2/10]

template<typename S , typename DerivedA , typename DerivedB >

bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const kIOS< S > &	b1,
		const kIOS< S > &	b2
	)

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:

Not efficient

Definition at line 249 of file kIOS-inl.h.

overlap() [3/10]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const OBB< S > &	b1,
		const OBB< S > &	b2
	)

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 384 of file OBB-inl.h.

overlap() [4/10]

template<typename S , typename DerivedA , typename DerivedB >

bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const OBB< S > &	b1,
		const OBB< S > &	b2
	)

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 384 of file OBB-inl.h.

overlap() [5/10]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const OBBRSS< S > &	b1,
		const OBBRSS< S > &	b2
	)

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

Definition at line 155 of file OBBRSS-inl.h.

overlap() [6/10]

template<typename S , typename DerivedA , typename DerivedB >

bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const OBBRSS< S > &	b1,
		const OBBRSS< S > &	b2
	)

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

Definition at line 155 of file OBBRSS-inl.h.

overlap() [7/10]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const RSS< S > &	b1,
		const RSS< S > &	b2
	)

Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 1939 of file RSS-inl.h.

overlap() [8/10]

template<typename S , typename DerivedA , typename DerivedB >

bool fcl::overlap	(	const Eigen::MatrixBase< DerivedA > &	R0,
		const Eigen::MatrixBase< DerivedB > &	T0,
		const RSS< S > &	b1,
		const RSS< S > &	b2
	)

Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 1939 of file RSS-inl.h.

overlap() [9/10]

template<typename S >

FCL_EXPORT bool fcl::overlap	(	const Transform3< S > &	tf,
		const kIOS< S > &	b1,
		const kIOS< S > &	b2
	)

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:

Not efficient

overlap() [10/10]

template<typename S >

FCL_EXPORT bool fcl::overlap	(	const Transform3< S > &	tf,
		const OBBRSS< S > &	b1,
		const OBBRSS< S > &	b2
	)

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

rectDistance() [1/6]

template double fcl::rectDistance	(	const Matrix3< double > &	Rab,
		const Vector3< double > &	Tab,
		const double	a[2],
		const double	b[2],
		Vector3< double > *	P,
		Vector3< double > *	Q
	)

rectDistance() [2/6]

template<typename S >

FCL_EXPORT S fcl::rectDistance	(	const Matrix3< S > &	Rab,
		const Vector3< S > &	Tab,
		const S	a[2],
		const S	b[2],
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle.

Definition at line 513 of file RSS-inl.h.

rectDistance() [3/6]

template<typename S >

S fcl::rectDistance	(	const Matrix3< S > &	Rab,
		Vector3< S > const &	Tab,
		const S	a[2],
		const S	b[2],
		Vector3< S > *	P,
		Vector3< S > *	Q
	)

Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle.

Definition at line 513 of file RSS-inl.h.

rectDistance() [4/6]

template double fcl::rectDistance	(	const Transform3< double > &	tfab,
		const double	a[2],
		const double	b[2],
		Vector3< double > *	P,
		Vector3< double > *	Q
	)

rectDistance() [5/6]

template<typename S >

S fcl::rectDistance	(	const Transform3< S > &	tfab,
		const S	a[2],
		const S	b[2],
		Vector3< S > *	P,
		Vector3< S > *	Q
	)

Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle.

Definition at line 1228 of file RSS-inl.h.

rectDistance() [6/6]

template<typename S >

FCL_EXPORT S fcl::rectDistance	(	const Transform3< S > &	tfab,
		const S	a[2],
		const S	b[2],
		Vector3< S > *	P = nullptr,
		Vector3< S > *	Q = nullptr
	)

Distance between two oriented rectangles; P and Q (optional return values) are the closest points in the rectangles, both are in the local frame of the first rectangle.

Definition at line 1228 of file RSS-inl.h.

relativeTransform() [1/3]

template<typename DerivedA , typename DerivedB , typename DerivedC , typename DerivedD >

FCL_EXPORT void fcl::relativeTransform	(	const Eigen::MatrixBase< DerivedA > &	R1,
		const Eigen::MatrixBase< DerivedB > &	t1,
		const Eigen::MatrixBase< DerivedA > &	R2,
		const Eigen::MatrixBase< DerivedB > &	t2,
		Eigen::MatrixBase< DerivedC > &	R,
		Eigen::MatrixBase< DerivedD > &	t
	)

Definition at line 659 of file geometry-inl.h.

relativeTransform() [2/3]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT void fcl::relativeTransform	(	const Eigen::Transform< S, 3, Eigen::Isometry > &	T1,
		const Eigen::Transform< S, 3, Eigen::Isometry > &	T2,
		Eigen::MatrixBase< DerivedA > &	R,
		Eigen::MatrixBase< DerivedB > &	t
	)

relativeTransform() [3/3]

template<typename S , typename DerivedA , typename DerivedB >

FCL_EXPORT void fcl::relativeTransform	(	const Transform3< S > &	T1,
		const Transform3< S > &	T2,
		Eigen::MatrixBase< DerivedA > &	R,
		Eigen::MatrixBase< DerivedB > &	t
	)

Definition at line 691 of file geometry-inl.h.

rotationConstrain() [1/6]

template IMatrix3< double > fcl::rotationConstrain

(

const IMatrix3< double > &

m

)

rotationConstrain() [2/6]

template<typename S >

FCL_EXPORT IMatrix3<S> fcl::rotationConstrain

(

const IMatrix3< S > &

m

)

Definition at line 323 of file interval_matrix-inl.h.

rotationConstrain() [3/6]

template<typename S >

IMatrix3<S> fcl::rotationConstrain

(

const IMatrix3< S > &

m

)

Definition at line 323 of file interval_matrix-inl.h.

rotationConstrain() [4/6]

template TMatrix3< double > fcl::rotationConstrain

(

const TMatrix3< double > &

m

)

rotationConstrain() [5/6]

template<typename S >

FCL_EXPORT TMatrix3<S> fcl::rotationConstrain

(

const TMatrix3< S > &

m

)

Definition at line 483 of file taylor_matrix-inl.h.

rotationConstrain() [6/6]

template<typename S >

TMatrix3<S> fcl::rotationConstrain

(

const TMatrix3< S > &

m

)

Definition at line 483 of file taylor_matrix-inl.h.

segCoords() [1/3]

template void fcl::segCoords	(	double &	t,
		double &	u,
		double	a,
		double	b,
		double	A_dot_B,
		double	A_dot_T,
		double	B_dot_T
	)

segCoords() [2/3]

template<typename S >

FCL_EXPORT void fcl::segCoords	(	S &	t,
		S &	u,
		S	a,
		S	b,
		S	A_dot_B,
		S	A_dot_T,
		S	B_dot_T
	)

Finds the parameters t & u corresponding to the two closest points on a pair of line segments. The first segment is defined as Pa + A*t, 0 <= t <= a, where "Pa" is one endpoint of the segment, "A" is a unit vector pointing to the other endpoint, and t is a scalar that produces all the points between the two endpoints. Since "A" is a unit vector, "a" is the segment's length. The second segment is defined as Pb + B*u, 0 <= u <= b. Many of the terms needed by the algorithm are already computed for other purposes,so we just pass these terms into the function instead of complete specifications of each segment. "T" in the dot products is the vector betweeen Pa and Pb. Reference: "On fast computation of distance between line segments." Vladimir J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985.

Definition at line 458 of file RSS-inl.h.

segCoords() [3/3]

template<typename S >

void fcl::segCoords	(	S &	t,
		S &	u,
		S	a,
		S	b,
		S	A_dot_B,
		S	A_dot_T,
		S	B_dot_T
	)

Finds the parameters t & u corresponding to the two closest points on a pair of line segments. The first segment is defined as Pa + A*t, 0 <= t <= a, where "Pa" is one endpoint of the segment, "A" is a unit vector pointing to the other endpoint, and t is a scalar that produces all the points between the two endpoints. Since "A" is a unit vector, "a" is the segment's length. The second segment is defined as Pb + B*u, 0 <= u <= b. Many of the terms needed by the algorithm are already computed for other purposes,so we just pass these terms into the function instead of complete specifications of each segment. "T" in the dot products is the vector betweeen Pa and Pb. Reference: "On fast computation of distance between line segments." Vladimir J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985.

Definition at line 458 of file RSS-inl.h.

transform() [1/6]

template Halfspace< double > fcl::transform	(	const Halfspace< double > &	a,
		const Transform3< double > &	tf
	)

transform() [2/6]

template<typename S >

FCL_EXPORT Halfspace<S> fcl::transform	(	const Halfspace< S > &	a,
		const Transform3< S > &	tf
	)

suppose the initial halfspace is n * x <= d after transform (R, T), x --> x' = R x + T and the new half space becomes n' * x' <= d' where n' = R * n and d' = d + n' * T

Definition at line 168 of file geometry/shape/halfspace-inl.h.

transform() [3/6]

template<typename S >

Halfspace<S> fcl::transform	(	const Halfspace< S > &	a,
		const Transform3< S > &	tf
	)

suppose the initial halfspace is n * x <= d after transform (R, T), x --> x' = R x + T and the new half space becomes n' * x' <= d' where n' = R * n and d' = d + n' * T

Definition at line 168 of file geometry/shape/halfspace-inl.h.

transform() [4/6]

template Plane< double > fcl::transform	(	const Plane< double > &	a,
		const Transform3< double > &	tf
	)

transform() [5/6]

template<typename S >

FCL_EXPORT Plane<S> fcl::transform	(	const Plane< S > &	a,
		const Transform3< S > &	tf
	)

suppose the initial halfspace is n * x <= d after transform (R, T), x --> x' = R x + T and the new half space becomes n' * x' <= d' where n' = R * n and d' = d + n' * T

Definition at line 168 of file geometry/shape/plane-inl.h.

transform() [6/6]

template<typename S >

Plane<S> fcl::transform	(	const Plane< S > &	a,
		const Transform3< S > &	tf
	)

suppose the initial halfspace is n * x <= d after transform (R, T), x --> x' = R x + T and the new half space becomes n' * x' <= d' where n' = R * n and d' = d + n' * T

Definition at line 168 of file geometry/shape/plane-inl.h.

translate() [1/12]

template<typename S , typename Derived >

AABB< S > fcl::translate	(	const AABB< S > &	aabb,
		const Eigen::MatrixBase< Derived > &	t
	)

translate the center of AABB by t

Definition at line 345 of file AABB-inl.h.

translate() [2/12]

template<typename S , std::size_t N, typename Derived >

FCL_EXPORT KDOP< S, N > fcl::translate	(	const KDOP< S, N > &	bv,
		const Eigen::MatrixBase< Derived > &	t
	)

translate the KDOP BV

Definition at line 290 of file kDOP-inl.h.

translate() [3/12]

template<typename S , typename Derived >

FCL_EXPORT kIOS<S> fcl::translate	(	const kIOS< S > &	bv,
		const Eigen::MatrixBase< Derived > &	t
	)

Translate the kIOS BV.

Definition at line 298 of file kIOS-inl.h.

translate() [4/12]

template<typename S , typename Derived >

kIOS<S> fcl::translate	(	const kIOS< S > &	bv,
		const Eigen::MatrixBase< Derived > &	t
	)

Translate the kIOS BV.

Definition at line 298 of file kIOS-inl.h.

translate() [5/12]

template<typename S , typename Derived >

FCL_EXPORT OBB<S> fcl::translate	(	const OBB< S > &	bv,
		const Eigen::MatrixBase< Derived > &	t
	)

Translate the OBB bv.

Definition at line 374 of file OBB-inl.h.

translate() [6/12]

template<typename S , typename Derived >

OBB<S> fcl::translate	(	const OBB< S > &	bv,
		const Eigen::MatrixBase< Derived > &	t
	)

Translate the OBB bv.

Definition at line 374 of file OBB-inl.h.

translate() [7/12]

template OBBRSS< double > fcl::translate	(	const OBBRSS< double > &	bv,
		const Vector3< double > &	t
	)

translate() [8/12]

template<typename S >

FCL_EXPORT OBBRSS<S> fcl::translate	(	const OBBRSS< S > &	bv,
		const Vector3< S > &	t
	)

Translate the OBBRSS bv.

Definition at line 175 of file OBBRSS-inl.h.

translate() [9/12]

template<typename S >

OBBRSS<S> fcl::translate	(	const OBBRSS< S > &	bv,
		const Vector3< S > &	t
	)

Translate the OBBRSS bv.

Definition at line 175 of file OBBRSS-inl.h.

translate() [10/12]

template RSS< double > fcl::translate	(	const RSS< double > &	bv,
		const Vector3< double > &	t
	)

translate() [11/12]

template<typename S >

FCL_EXPORT RSS<S> fcl::translate	(	const RSS< S > &	bv,
		const Vector3< S > &	t
	)

Translate the RSS bv.

Definition at line 1978 of file RSS-inl.h.

translate() [12/12]

template<typename S >

RSS<S> fcl::translate	(	const RSS< S > &	bv,
		const Vector3< S > &	t
	)

Translate the RSS bv.

Definition at line 1978 of file RSS-inl.h.

triple()

template<typename Derived >

FCL_EXPORT Derived::RealScalar fcl::triple	(	const Eigen::MatrixBase< Derived > &	x,
		const Eigen::MatrixBase< Derived > &	y,
		const Eigen::MatrixBase< Derived > &	z
	)

Definition at line 431 of file geometry-inl.h.

Variable Documentation

AABB< double >

template class FCL_EXPORT fcl::AABB< double >

Box< double >

template class FCL_EXPORT fcl::Box< double >

BroadPhaseCollisionManager< double >

template class FCL_EXPORT fcl::BroadPhaseCollisionManager< double >

BroadPhaseContinuousCollisionManager< double >

template class FCL_EXPORT fcl::BroadPhaseContinuousCollisionManager< double >

Capsule< double >

template class FCL_EXPORT fcl::Capsule< double >

CollisionGeometry< double >

template class FCL_EXPORT fcl::CollisionGeometry< double >

CollisionObject< double >

template class FCL_EXPORT fcl::CollisionObject< double >

Cone< double >

template class FCL_EXPORT fcl::Cone< double >

ContinuousCollisionObject< double >

template class FCL_EXPORT fcl::ContinuousCollisionObject< double >

Convex< double >

template class FCL_EXPORT fcl::Convex< double >

Cylinder< double >

template class FCL_EXPORT fcl::Cylinder< double >

DynamicAABBTreeCollisionManager< double >

template class FCL_EXPORT fcl::DynamicAABBTreeCollisionManager< double >

DynamicAABBTreeCollisionManager_Array< double >

template class FCL_EXPORT fcl::DynamicAABBTreeCollisionManager_Array< double >

Ellipsoid< double >

template class FCL_EXPORT fcl::Ellipsoid< double >

Halfspace< double >

template class FCL_EXPORT fcl::Halfspace< double >

InterpMotion< double >

template class FCL_EXPORT fcl::InterpMotion< double >

IntervalTreeCollisionManager< double >

template class FCL_EXPORT fcl::IntervalTreeCollisionManager< double >

KDOP< double, 16 >

template class FCL_EXPORT fcl::KDOP< double, 16 >

KDOP< double, 18 >

template class FCL_EXPORT fcl::KDOP< double, 18 >

KDOP< double, 24 >

template class FCL_EXPORT fcl::KDOP< double, 24 >

kIOS< double >

template class FCL_EXPORT fcl::kIOS< double >

MotionBase< double >

template class FCL_EXPORT fcl::MotionBase< double >

NaiveCollisionManager< double >

template class FCL_EXPORT fcl::NaiveCollisionManager< double >

OBB< double >

template class FCL_EXPORT fcl::OBB< double >

OBBRSS< double >

template class FCL_EXPORT fcl::OBBRSS< double >

Plane< double >

template class FCL_EXPORT fcl::Plane< double >

RNG< double >

template class FCL_EXPORT fcl::RNG< double >

RSS< double >

template class FCL_EXPORT fcl::RSS< double >

SamplerBase< double >

template class FCL_EXPORT fcl::SamplerBase< double >

SamplerSE2< double >

template class FCL_EXPORT fcl::SamplerSE2< double >

SamplerSE2_disk< double >

template class FCL_EXPORT fcl::SamplerSE2_disk< double >

SamplerSE3Euler< double >

template class FCL_EXPORT fcl::SamplerSE3Euler< double >

SamplerSE3Euler_ball< double >

template class FCL_EXPORT fcl::SamplerSE3Euler_ball< double >

SamplerSE3Quat< double >

template class FCL_EXPORT fcl::SamplerSE3Quat< double >

SamplerSE3Quat_ball< double >

template class FCL_EXPORT fcl::SamplerSE3Quat_ball< double >

SaPCollisionManager< double >

template class FCL_EXPORT fcl::SaPCollisionManager< double >

ScrewMotion< double >

template class FCL_EXPORT fcl::ScrewMotion< double >

ShapeBase< double >

template class FCL_EXPORT fcl::ShapeBase< double >

Sphere< double >

template class FCL_EXPORT fcl::Sphere< double >

SplineMotion< double >

template class FCL_EXPORT fcl::SplineMotion< double >

SSaPCollisionManager< double >

template class FCL_EXPORT fcl::SSaPCollisionManager< double >

TaylorModel< double >

template class FCL_EXPORT fcl::TaylorModel< double >

TMatrix3< double >

template class FCL_EXPORT fcl::TMatrix3< double >

TranslationMotion< double >

template class FCL_EXPORT fcl::TranslationMotion< double >

TriangleMotionBoundVisitor< double >

template class FCL_EXPORT fcl::TriangleMotionBoundVisitor< double >

TriangleP< double >

template class FCL_EXPORT fcl::TriangleP< double >

TVector3< double >

template class FCL_EXPORT fcl::TVector3< double >

Variance3< double >

template class FCL_EXPORT fcl::Variance3< double >