hpp::fcl Namespace Reference

Namespaces
	detail
	details
	internal
	kIOS_fit_functions
	OBB_fit_functions
	OBBRSS_fit_functions
	python
	RSS_fit_functions

Classes
class	AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
class	BenchTimer
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...
struct	BroadPhaseCollisionManagerWrapper
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	BVFitter
	The class for the default algorithm fitting a bounding volume to a set of points. More...
class	BVFitter< AABB >
	Specification of BVFitter for AABB bounding volume. More...
class	BVFitter< kIOS >
	Specification of BVFitter for kIOS bounding volume. More...
class	BVFitter< OBB >
	Specification of BVFitter for OBB bounding volume. More...
class	BVFitter< OBBRSS >
	Specification of BVFitter for OBBRSS bounding volume. More...
class	BVFitter< RSS >
	Specification of BVFitter for RSS bounding volume. More...
class	BVFitterTpl
	The class for the default algorithm fitting a bounding volume to a set of points. More...
struct	BVHFrontNode
	Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hierarchy, where the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a BVTT that is traversed for that particular proximity query. 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	BVHModelBase
	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
struct	BVHShapeCollider
struct	BVHShapeDistancer
struct	BVHShapeDistancer< kIOS, T_SH >
struct	BVHShapeDistancer< OBBRSS, T_SH >
struct	BVHShapeDistancer< RSS, T_SH >
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	BVSplitter
	A class describing the split rule that splits each BV node. More...
struct	BVT
	Bounding volume test structure. More...
struct	BVT_Comparer
	Comparer between two BVT. More...
struct	BVTQ
class	CachedMeshLoader
class	Capsule
	Capsule It is where is the distance between the point x and the capsule segment AB, with . More...
struct	CollisionCallBackBase
	Base callback class for collision queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision). More...
struct	CollisionCallBackBaseWrapper
struct	CollisionCallBackCollect
	Collision callback to collect collision pairs potentially in contacts. More...
struct	CollisionCallBackDefault
	Default collision callback to check collision between collision objects. More...
struct	CollisionData
	Collision data stores the collision request and the result given by collision algorithm. More...
struct	CollisionFunctionMatrix
	collision matrix stores the functions for collision between different types of objects and provides a uniform call interface 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
	request to the collision algorithm More...
struct	CollisionResult
	collision result More...
class	ComputeCollision
	This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries. More...
class	ComputeDistance
class	Cone
	Cone The base of the cone is at and the top is at . More...
struct	Contact
	Contact information returned by collision. More...
class	Convex
	Convex polytope. More...
class	ConvexBase
	Base for convex polytope. More...
struct	CPUTimes
class	Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...
struct	DistanceCallBackBase
	Base callback class for distance queries. This class can be supersed by child classes to provide desired behaviors according to the application (e.g, only listing the potential CollisionObjects in collision). More...
struct	DistanceCallBackBaseWrapper
struct	DistanceCallBackDefault
	Default distance callback to check collision between collision objects. More...
struct	DistanceData
	Distance data stores the distance request and the result given by distance algorithm. More...
struct	DistanceFunctionMatrix
	distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
struct	DistanceRequest
	request to the distance computation More...
struct	DistanceRes
struct	DistanceResult
	distance result More...
class	DummyCollisionObject
	Dummy collision object with a point AABB. More...
class	DynamicAABBTreeArrayCollisionManager
class	DynamicAABBTreeCollisionManager
class	Ellipsoid
	Ellipsoid centered at point zero. More...
struct	GJKSolver
	collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...
class	Halfspace
	Half Space: this is equivalent to the Plane 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...
class	HeightField
	Data structure depicting a height field given by the base grid dimensions and the elevation along the grid. More...
struct	HeightFieldShapeCollider
	Collider functor for HeightField data structure. More...
struct	HeightFieldShapeDistancer
struct	HFNode
struct	HFNodeBase
class	IntervalTreeCollisionManager
	Collision manager based on interval tree. More...
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	MeshLoader
class	NaiveCollisionManager
	Brute force N-body collision manager. More...
struct	OBB
	Oriented bounding box class. More...
struct	OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
class	OcTree
	Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...
class	Plane
	Infinite plane. More...
struct	Quadrilateral
	Quadrilateral with 4 indices for points. More...
struct	QueryRequest
	base class for all query requests More...
struct	QueryResult
	base class for all query results More...
struct	RSS
	A class for rectangle sphere-swept bounding volume. More...
class	SaPCollisionManager
	Rigorous SAP collision manager. More...
struct	shape_traits
struct	shape_traits< Box >
struct	shape_traits< Capsule >
struct	shape_traits< Cone >
struct	shape_traits< ConvexBase >
struct	shape_traits< Cylinder >
struct	shape_traits< Ellipsoid >
struct	shape_traits< Halfspace >
struct	shape_traits< Sphere >
struct	shape_traits< TriangleP >
struct	shape_traits_base
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	SSaPCollisionManager
	Simple SAP collision manager. More...
struct	Timer
	This class mimics the way "boost/timer/timer.hpp" operates while using the modern std::chrono library. Importantly, this class will only have an effect for C++11 and more. More...
class	Transform3f
	Simple transform class used locally by InterpMotion. More...
struct	TraversalTraitsCollision
struct	TraversalTraitsDistance
class	Triangle
	Triangle with 3 indices for points. More...
class	TriangleP
	Triangle stores the points instead of only indices of points. More...
struct	TStruct

Typedefs
typedef Eigen::AngleAxis< FCL_REAL >	AngleAxis
using	BroadPhaseContinuousCollisionManagerd = BroadPhaseContinuousCollisionManager< FCL_REAL >
using	BroadPhaseContinuousCollisionManagerf = BroadPhaseContinuousCollisionManager< float >
typedef std::list< BVHFrontNode >	BVHFrontList
	BVH front list is a list of front nodes. More...
typedef shared_ptr< BVHModelBase >	BVHModelPtr_t
typedef shared_ptr< const CollisionGeometry >	CollisionGeometryConstPtr_t
typedef shared_ptr< CollisionGeometry >	CollisionGeometryPtr_t
typedef shared_ptr< const CollisionObject >	CollisionObjectConstPtr_t
typedef shared_ptr< CollisionObject >	CollisionObjectPtr_t
template<typename S >
using	ContinuousCollisionCallBack = bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, void *cdata)
	Callback for continuous collision between two objects. Return value is whether can stop now. More...
template<typename S >
using	ContinuousDistanceCallBack = bool(*)(ContinuousCollisionObject *o1, ContinuousCollisionObject *o2, S &dist)
	Callback for continuous distance between two objects, Return value is whether can stop now, also return the minimum distance till now. More...
typedef double	FCL_REAL
typedef Eigen::Matrix< FCL_REAL, 3, 3 >	Matrix3f
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 >	Matrixx3f
typedef Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 >	Matrixx3i
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic >	MatrixXf
typedef shared_ptr< const OcTree >	OcTreeConstPtr_t
typedef shared_ptr< OcTree >	OcTreePtr_t
typedef Eigen::Quaternion< FCL_REAL >	Quaternion3f
typedef Eigen::Vector2i	support_func_guess_t
typedef Eigen::Matrix< FCL_REAL, 3, 1 >	Vec3f
typedef Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 >	VecXf

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, BVH_ERR_BUILD_OUT_OF_SEQUENCE, BVH_ERR_BUILD_EMPTY_MODEL = -3,   BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME, 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	CollisionRequestFlag { CONTACT = 0x00001, DISTANCE_LOWER_BOUND = 0x00002, NO_REQUEST = 0x01000 }
	flag declaration for specifying required params in CollisionResult More...
enum	GJKConvergenceCriterion { VDB, DualityGap, Hybrid }
	Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG. More...
enum	GJKConvergenceCriterionType { Relative, Absolute }
	Wether the convergence criterion is scaled on the norm of the solution or not. More...
enum	GJKInitialGuess { DefaultGuess, CachedGuess, BoundingVolumeGuess }
	Initial guess to use for the GJK algorithm DefaultGuess: Vec3f(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes. More...
enum	GJKVariant { DefaultGJK, NesterovAcceleration }
	Variant to use for the GJK algorithm. More...
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_CAPSULE,   GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE,   GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE, GEOM_ELLIPSOID,   HF_AABB, HF_OBBRSS, 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, triangle), and octree More...
enum	OBJECT_TYPE {   OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE,   OT_HFIELD, OT_COUNT }
	object type: BVH (mesh, points), basic geometry, octree More...
enum	SplitMethodType { SPLIT_METHOD_MEAN, SPLIT_METHOD_MEDIAN, SPLIT_METHOD_BV_CENTER }
	Three types of split algorithms are provided in FCL as default. More...

Functions
template<typename BV >
BVHModelPtr_t	_load (const std::string &filename, const Vec3f &scale)
static void	axisFromEigen (Vec3f eigenV[3], Matrix3f::Scalar eigenS[3], Matrix3f &axes)
template<typename T_BVH >
std::size_t	BVHCollide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
template<typename T_BVH >
std::size_t	BVHCollide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const CollisionRequest &request, CollisionResult &result)
template<>
std::size_t	BVHCollide< kIOS > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
template<>
std::size_t	BVHCollide< OBB > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
template<>
std::size_t	BVHCollide< OBBRSS > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
template<typename T_BVH >
FCL_REAL	BVHDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
template<typename T_BVH >
FCL_REAL	BVHDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &request, DistanceResult &result)
template<>
FCL_REAL	BVHDistance< kIOS > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
template<>
FCL_REAL	BVHDistance< OBBRSS > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
template<>
FCL_REAL	BVHDistance< RSS > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
template<>
HPP_FCL_DLLAPI BVHModel< AABB > *	BVHExtract (const BVHModel< AABB > &model, const Transform3f &pose, const AABB &aabb)
template<typename BV >
HPP_FCL_DLLAPI BVHModel< BV > *	BVHExtract (const BVHModel< BV > &model, const Transform3f &pose, const AABB &aabb)
	Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside. More...
template<>
HPP_FCL_DLLAPI BVHModel< KDOP< 16 > > *	BVHExtract (const BVHModel< KDOP< 16 > > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< KDOP< 18 > > *	BVHExtract (const BVHModel< KDOP< 18 > > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< KDOP< 24 > > *	BVHExtract (const BVHModel< KDOP< 24 > > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< kIOS > *	BVHExtract (const BVHModel< kIOS > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< OBB > *	BVHExtract (const BVHModel< OBB > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< OBBRSS > *	BVHExtract (const BVHModel< OBBRSS > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< RSS > *	BVHExtract (const BVHModel< RSS > &model, const Transform3f &pose, const AABB &aabb)
HPP_FCL_DLLAPI void	circumCircleComputation (const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
	Compute the center and radius for a triangle's circumcircle. More...
FCL_REAL	clamp (const FCL_REAL &num, const FCL_REAL &denom)
	Clamp num / denom in [0, 1]. More...
void	clamped_linear (Vec3f &a_sd, const Vec3f &a, const FCL_REAL &s_n, const FCL_REAL &s_d, const Vec3f &d)
	Clamp s=s_n/s_d in [0, 1] and stores a + s * d in a_sd. More...
void	clipToRange (FCL_REAL &val, FCL_REAL a, FCL_REAL b)
	Clip value between a and b. More...
void	collide (CollisionTraversalNodeBase *node, const CollisionRequest &request, CollisionResult &result, BVHFrontList *front_list, bool recursive)
std::size_t	collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result)
HPP_FCL_DLLAPI std::size_t	collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
std::size_t	collide (const CollisionObject *o1, const CollisionObject *o2, CollisionRequest &request, CollisionResult &result)
HPP_FCL_DLLAPI std::size_t	collide (const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &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...
void	collisionNonRecurse (CollisionTraversalNodeBase *node, BVHFrontList *front_list, FCL_REAL &sqrDistLowerBound)
void	collisionRecurse (CollisionTraversalNodeBase *node, unsigned int b1, unsigned int b2, BVHFrontList *front_list, FCL_REAL &sqrDistLowerBound)
template<typename BV , typename S >
void	computeBV (const S &s, const Transform3f &tf, BV &bv)
	calculate a bounding volume for a shape in a specific configuration More...
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Box > (const Box &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Capsule > (const Capsule &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Cone > (const Cone &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Ellipsoid > (const Ellipsoid &e, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Plane > (const Plane &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, Sphere > (const Sphere &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3f &tf, AABB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< KDOP< 16 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 16 > &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 16 > &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< KDOP< 18 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 18 > &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 18 > &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< KDOP< 24 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 24 > &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 24 > &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3f &tf, kIOS &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< kIOS, Plane > (const Plane &s, const Transform3f &tf, kIOS &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, Box > (const Box &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, Capsule > (const Capsule &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, Cone > (const Cone &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, Plane > (const Plane &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBB, Sphere > (const Sphere &s, const Transform3f &tf, OBB &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3f &tf, OBBRSS &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< OBBRSS, Plane > (const Plane &s, const Transform3f &tf, OBBRSS &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3f &tf, RSS &bv)
template<>
HPP_FCL_DLLAPI void	computeBV< RSS, Plane > (const Plane &s, const Transform3f &tf, RSS &bv)
static void	computeChildBV (const AABB &root_bv, unsigned int i, AABB &child_bv)
	compute the bounding volume of an octree node's i-th child More...
template<typename T >
size_t	computeMemoryFootprint (const T &object)
	Returns the memory footpring of the input object. For POD objects, this function returns the result of sizeof(T) More...
template<typename BV >
void	computeSplitValue_bvcenter (const BV &bv, FCL_REAL &split_value)
template<typename BV >
void	computeSplitValue_mean (const BV &, Vec3f *vertices, Triangle *triangles, unsigned int *primitive_indices, unsigned int num_primitives, BVHModelType type, const Vec3f &split_vector, FCL_REAL &split_value)
template<typename BV >
void	computeSplitValue_median (const BV &, Vec3f *vertices, Triangle *triangles, unsigned int *primitive_indices, unsigned int num_primitives, BVHModelType type, const Vec3f &split_vector, FCL_REAL &split_value)
template<typename BV >
void	computeSplitVector (const BV &bv, Vec3f &split_vector)
template<>
void	computeSplitVector< kIOS > (const kIOS &bv, Vec3f &split_vector)
template<>
void	computeSplitVector< OBBRSS > (const OBBRSS &bv, Vec3f &split_vector)
void	computeVertices (const OBB &b, Vec3f vertices[8])
	Compute the 8 vertices of a OBB. More...
HPP_FCL_DLLAPI void	constructBox (const AABB &bv, Box &box, Transform3f &tf)
	construct a box shape (with a configuration) from a given bounding volume More...
HPP_FCL_DLLAPI void	constructBox (const AABB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const KDOP< 16 > &bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const KDOP< 16 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const KDOP< 18 > &bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const KDOP< 18 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const KDOP< 24 > &bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const KDOP< 24 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const kIOS &bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const kIOS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const OBB &bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const OBB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const OBBRSS &bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const OBBRSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const RSS &bv, Box &box, Transform3f &tf)
HPP_FCL_DLLAPI void	constructBox (const RSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
Convex< Triangle >	constructPolytopeFromEllipsoid (const Ellipsoid &ellipsoid)
	We give an ellipsoid as input. The output is a 20 faces polytope which vertices belong to the original ellipsoid surface. The procedure is simple: we construct a icosahedron, see https://sinestesia.co/blog/tutorials/python-icospheres/ . We then apply an ellipsoid tranformation to each vertex of the icosahedron. More...
template<typename BV1 , typename BV2 >
static void	convertBV (const BV1 &bv1, BV2 &bv2)
	Convert a bounding volume of type BV1 to bounding volume of type BV2 in identity configuration. More...
template<typename BV1 , typename BV2 >
static void	convertBV (const BV1 &bv1, const Transform3f &tf1, BV2 &bv2)
	Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration. More...
bool	defaultCollisionFunction (CollisionObject *o1, CollisionObject *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 CollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's CollisionResult instance. More...
bool	defaultDistanceFunction (CollisionObject *o1, CollisionObject *o2, void *data, FCL_REAL &dist)
	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...
HPP_FCL_DLLAPI FCL_REAL	distance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
FCL_REAL	distance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, DistanceRequest &request, DistanceResult &result)
HPP_FCL_DLLAPI FCL_REAL	distance (const CollisionObject *o1, const CollisionObject *o2, const DistanceRequest &request, DistanceResult &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...
FCL_REAL	distance (const CollisionObject *o1, const CollisionObject *o2, DistanceRequest &request, DistanceResult &result)
HPP_FCL_DLLAPI FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
	Approximate distance between two kIOS bounding volumes. More...
FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points. More...
HPP_FCL_DLLAPI FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
	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...
void	distance (DistanceTraversalNodeBase *node, BVHFrontList *front_list, unsigned int qsize)
void	distanceQueueRecurse (DistanceTraversalNodeBase *node, unsigned int b1, unsigned int b2, BVHFrontList *front_list, unsigned int qsize)
void	distanceRecurse (DistanceTraversalNodeBase *node, unsigned int b1, unsigned int b2, BVHFrontList *front_list)
template<typename Derived , typename Vector >
void	eigen (const Eigen::MatrixBase< Derived > &m, typename Derived::Scalar dout[3], Vector *vout)
	compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...
void	eulerToMatrix (FCL_REAL a, FCL_REAL b, FCL_REAL c, Matrix3f &R)
HPP_FCL_DLLAPI CollisionGeometry *	extract (const CollisionGeometry *model, const Transform3f &pose, const AABB &aabb)
template<>
void	fit (Vec3f *ps, unsigned int n, AABB &bv)
template<typename BV >
void	fit (Vec3f *ps, unsigned int n, BV &bv)
	Compute a bounding volume that fits a set of n points. More...
template<>
void	fit (Vec3f *ps, unsigned int n, kIOS &bv)
template<>
void	fit (Vec3f *ps, unsigned int n, OBB &bv)
template<>
void	fit (Vec3f *ps, unsigned int n, OBBRSS &bv)
template<>
void	fit (Vec3f *ps, unsigned int n, RSS &bv)
template<>
void	fit< AABB > (Vec3f *ps, unsigned int n, AABB &bv)
template<>
void	fit< kIOS > (Vec3f *ps, unsigned int n, kIOS &bv)
template<>
void	fit< OBB > (Vec3f *ps, unsigned int n, OBB &bv)
template<>
void	fit< OBBRSS > (Vec3f *ps, unsigned int n, OBBRSS &bv)
template<>
void	fit< RSS > (Vec3f *ps, unsigned int n, RSS &bv)
template<typename Derived >
Quaternion3f	fromAxisAngle (const Eigen::MatrixBase< Derived > &axis, FCL_REAL angle)
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3f &pose)
	Generate BVH model from box. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cone, given the number of segments along circle and the number of segments along axis. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot_for_unit_cone)
	Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cone with larger radius, the number of circle split number is r * tot. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num)
	Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot_for_unit_cylinder)
	Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cylinder with larger radius, the number of circle split number is r * tot. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int n_faces_for_unit_sphere)
	Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s. More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int seg, unsigned int ring)
	Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude. More...
template<typename Derived1 , typename Derived2 , typename Derived3 >
void	generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v)
void	generateEnvironments (std::vector< CollisionObject * > &env, FCL_REAL env_scale, std::size_t n)
void	generateEnvironmentsMesh (std::vector< CollisionObject * > &env, FCL_REAL env_scale, std::size_t n)
void	generateRandomTransform (FCL_REAL extents[6], Transform3f &transform)
	Generate one random transform whose translation is constrained by extents and rotation without constraints. The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5]. More...
void	generateRandomTransforms (FCL_REAL extents[6], FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::vector< Transform3f > &transforms, std::vector< Transform3f > &transforms2, std::size_t n)
	Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated. More...
void	generateRandomTransforms (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::size_t n)
	Generate n random transforms whose translations are constrained by extents. More...
const char *	get_node_type_name (NODE_TYPE node_type)
	Returns the name associated to a NODE_TYPE. More...
const char *	get_object_type_name (OBJECT_TYPE object_type)
	Returns the name associated to a OBJECT_TYPE. More...
CollisionFunctionMatrix &	getCollisionFunctionLookTable ()
HPP_FCL_DLLAPI void	getCovariance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &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...
DistanceFunctionMatrix &	getDistanceFunctionLookTable ()
template<short N>
void	getDistances (const Vec3f &, FCL_REAL *)
	Compute the distances to planes with normals from KDOP vectors except those of AABB face planes. More...
template<>
void	getDistances< 5 > (const Vec3f &p, FCL_REAL *d)
	Specification of getDistances. More...
template<>
void	getDistances< 6 > (const Vec3f &p, FCL_REAL *d)
template<>
void	getDistances< 9 > (const Vec3f &p, FCL_REAL *d)
HPP_FCL_DLLAPI void	getExtentAndCenter (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
static void	getExtentAndCenter_mesh (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...
static void	getExtentAndCenter_pointcloud (Vec3f *ps, Vec3f *ps2, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...
std::size_t	getNbRun (const int &argc, char const *const *argv, std::size_t defaultValue)
	Get the argument –nb-run from argv. More...
std::string	getNodeTypeName (NODE_TYPE node_type)
HPP_FCL_DLLAPI void	getRadiusAndOriginAndRectangleSize (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
bool	inVoronoi (FCL_REAL a, FCL_REAL b, FCL_REAL Anorm_dot_B, FCL_REAL Anorm_dot_T, FCL_REAL A_dot_B, FCL_REAL A_dot_T, FCL_REAL 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 Derived , typename OtherDerived >
bool	isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const FCL_REAL tol=std::numeric_limits< FCL_REAL >::epsilon() *100)
void	loadOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
	Load an obj mesh file. More...
template<class BoundingVolume >
void	loadPolyhedronFromResource (const std::string &resource_path, const fcl::Vec3f &scale, const shared_ptr< BVHModel< BoundingVolume > > &polyhedron)
	Read a mesh file and convert it to a polyhedral mesh. More...
HPP_FCL_DLLAPI OcTreePtr_t	makeOctree (const Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > &point_cloud, const FCL_REAL resolution)
	Build an OcTree from a point cloud and a given resolution. More...
Quaternion3f	makeQuat (FCL_REAL w, FCL_REAL x, FCL_REAL y, FCL_REAL z)
HPP_FCL_DLLAPI FCL_REAL	maximumDistance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3f &query)
	Compute the maximum distance from a given center point to a point cloud. More...
static FCL_REAL	maximumDistance_mesh (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3f &query)
static FCL_REAL	maximumDistance_pointcloud (Vec3f *ps, Vec3f *ps2, unsigned int *indices, unsigned int n, const Vec3f &query)
OBB	merge_largedist (const OBB &b1, const OBB &b2)
	OBB merge method when the centers of two smaller OBB are far away. More...
OBB	merge_smalldist (const OBB &b1, const OBB &b2)
	OBB merge method when the centers of two smaller OBB are close. More...
void	minmax (FCL_REAL a, FCL_REAL b, FCL_REAL &minv, FCL_REAL &maxv)
	Find the smaller and larger one of two values. More...
void	minmax (FCL_REAL p, FCL_REAL &minv, FCL_REAL &maxv)
	Merge the interval [minv, maxv] and value p/. More...
HPP_FCL_DLLAPI bool	obbDisjoint (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)
bool	obbDisjointAndLowerBoundDistance (const Matrix3f &B, const Vec3f &T, const Vec3f &a_, const Vec3f &b_, const CollisionRequest &request, FCL_REAL &squaredLowerBoundDistance)
CollisionRequestFlag	operator& (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	operator&= (CollisionRequestFlag &a, CollisionRequestFlag b)
static std::ostream &	operator<< (std::ostream &o, const Quaternion3f &q)
std::ostream &	operator<< (std::ostream &os, const Box &b)
std::ostream &	operator<< (std::ostream &os, const ShapeBase &)
std::ostream &	operator<< (std::ostream &os, const Transform3f &tf)
CollisionRequestFlag	operator^ (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	operator^= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag	operator| (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	operator|= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag	operator~ (CollisionRequestFlag a)
template<short N>
bool	overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &)
template<short N>
bool	overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, FCL_REAL &)
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...
bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...
void	propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase *node, const CollisionRequest &, CollisionResult &result, BVHFrontList *front_list)
FCL_REAL	rand_interval (FCL_REAL rmin, FCL_REAL rmax)
FCL_REAL	rectDistance (const Matrix3f &Rab, Vec3f const &Tab, const FCL_REAL a[2], const FCL_REAL b[2], Vec3f *P=NULL, Vec3f *Q=NULL)
	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 Derived , typename OtherDerived >
void	relativeTransform (const Eigen::MatrixBase< Derived > &R1, const Eigen::MatrixBase< OtherDerived > &t1, const Eigen::MatrixBase< Derived > &R2, const Eigen::MatrixBase< OtherDerived > &t2, const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &t)
void	relativeTransform (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf)
void	relativeTransform2 (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf)
void	reorderTriangle (const Convex< Triangle > *convex_tri, Triangle &tri)
static AABB	rotate (const AABB &aabb, const Matrix3f &R)
void	saveOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
void	segCoords (FCL_REAL &t, FCL_REAL &u, FCL_REAL a, FCL_REAL b, FCL_REAL A_dot_B, FCL_REAL A_dot_T, FCL_REAL 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...
	SHAPE_DISTANCE_SPECIALIZATION (Sphere, Box)
	SHAPE_DISTANCE_SPECIALIZATION (Sphere, Capsule)
	SHAPE_DISTANCE_SPECIALIZATION (Sphere, Cylinder)
	SHAPE_DISTANCE_SPECIALIZATION_BASE (Capsule, Capsule)
	SHAPE_DISTANCE_SPECIALIZATION_BASE (Sphere, Sphere)
	SHAPE_DISTANCE_SPECIALIZATION_BASE (TriangleP, TriangleP)
	SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Box)
	SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Capsule)
	SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Cone)
	SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Cylinder)
	SHAPE_INTERSECT_SPECIALIZATION (Halfspace, Plane)
	SHAPE_INTERSECT_SPECIALIZATION (Plane, Box)
	SHAPE_INTERSECT_SPECIALIZATION (Plane, Capsule)
	SHAPE_INTERSECT_SPECIALIZATION (Plane, Cone)
	SHAPE_INTERSECT_SPECIALIZATION (Plane, Cylinder)
	SHAPE_INTERSECT_SPECIALIZATION (Sphere, Box)
	SHAPE_INTERSECT_SPECIALIZATION (Sphere, Capsule)
	SHAPE_INTERSECT_SPECIALIZATION (Sphere, Halfspace)
	SHAPE_INTERSECT_SPECIALIZATION (Sphere, Plane)
	SHAPE_INTERSECT_SPECIALIZATION_BASE (Sphere, Sphere)
template<typename T_SH1 , typename T_SH2 >
FCL_REAL	ShapeShapeDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Box, Halfspace > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Box, Plane > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Box, Sphere > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Capsule, Capsule > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &request, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Capsule, Halfspace > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Capsule, Plane > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Cone, Halfspace > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Cone, Plane > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< ConvexBase, Halfspace > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Cylinder, Halfspace > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Cylinder, Plane > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Cylinder, Sphere > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Halfspace, Box > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Halfspace, Capsule > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Halfspace, Cone > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Halfspace, ConvexBase > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Halfspace, Cylinder > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Halfspace, Sphere > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Halfspace, TriangleP > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Plane, Box > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Plane, Capsule > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Plane, Cone > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Plane, Cylinder > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Plane, Sphere > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Sphere, Box > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Sphere, Cylinder > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Sphere, Halfspace > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Sphere, Plane > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< Sphere, Sphere > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
template<>
FCL_REAL	ShapeShapeDistance< TriangleP, Halfspace > (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *, const DistanceRequest &, DistanceResult &result)
void	toEllipsoid (Vec3f &point, const Ellipsoid &ellipsoid)
void	toSphere (Vec3f &point)
	Takes a point and projects it onto the surface of the unit sphere. More...
HPP_FCL_DLLAPI Halfspace	transform (const Halfspace &a, const Transform3f &tf)
HPP_FCL_DLLAPI Plane	transform (const Plane &a, const Transform3f &tf)
static AABB	translate (const AABB &aabb, const Vec3f &t)
	translate the center of AABB by t More...
template<short N>
HPP_FCL_DLLAPI KDOP< N >	translate (const KDOP< N > &bv, const Vec3f &t)
	translate the KDOP BV More...
template<short N>
KDOP< N >	translate (const KDOP< N > &bv, const Vec3f &t)
	translate the KDOP BV More...
HPP_FCL_DLLAPI kIOS	translate (const kIOS &bv, const Vec3f &t)
	Translate the kIOS BV. More...
HPP_FCL_DLLAPI OBB	translate (const OBB &bv, const Vec3f &t)
	Translate the OBB bv. More...
OBBRSS	translate (const OBBRSS &bv, const Vec3f &t)
RSS	translate (const RSS &bv, const Vec3f &t)
template KDOP< 16 >	translate< 16 > (const KDOP< 16 > &, const Vec3f &)
template KDOP< 18 >	translate< 18 > (const KDOP< 18 > &, const Vec3f &)
template KDOP< 24 >	translate< 24 > (const KDOP< 24 > &, const Vec3f &)
template<typename Derived >
static Derived::Scalar	triple (const Eigen::MatrixBase< Derived > &x, const Eigen::MatrixBase< Derived > &y, const Eigen::MatrixBase< Derived > &z)
void	updateFrontList (BVHFrontList *front_list, unsigned int b1, unsigned int b2)
	Add new front node into the front list. More...

Variables
static const double	cosA = sqrt(3.0) / 2.0
static const double	invSinA = 2
static const double	kIOS_RATIO = 1.5
const Eigen::IOFormat	pyfmt
const Vec3f	UnitX = Vec3f(1, 0, 0)
const Vec3f	UnitY = Vec3f(0, 1, 0)
const Vec3f	UnitZ = Vec3f(0, 0, 1)
const Eigen::IOFormat	vfmt

Typedef Documentation

AngleAxis

typedef Eigen::AngleAxis<FCL_REAL> hpp::fcl::AngleAxis

Definition at line 123 of file utility.h.

BroadPhaseContinuousCollisionManagerd

using hpp::fcl::BroadPhaseContinuousCollisionManagerd = typedef BroadPhaseContinuousCollisionManager<FCL_REAL>

Definition at line 138 of file broadphase_continuous_collision_manager.h.

BroadPhaseContinuousCollisionManagerf

using hpp::fcl::BroadPhaseContinuousCollisionManagerf = typedef BroadPhaseContinuousCollisionManager<float>

Definition at line 136 of file broadphase_continuous_collision_manager.h.

BVHFrontList

typedef std::list<BVHFrontNode> hpp::fcl::BVHFrontList

BVH front list is a list of front nodes.

Definition at line 67 of file BVH_front.h.

BVHModelPtr_t

typedef shared_ptr<BVHModelBase> hpp::fcl::BVHModelPtr_t

Definition at line 103 of file include/hpp/fcl/fwd.hh.

CollisionGeometryConstPtr_t

typedef shared_ptr<const CollisionGeometry> hpp::fcl::CollisionGeometryConstPtr_t

Definition at line 98 of file include/hpp/fcl/fwd.hh.

CollisionGeometryPtr_t

typedef shared_ptr<CollisionGeometry> hpp::fcl::CollisionGeometryPtr_t

Definition at line 96 of file include/hpp/fcl/fwd.hh.

CollisionObjectConstPtr_t

typedef shared_ptr<const CollisionObject> hpp::fcl::CollisionObjectConstPtr_t

Definition at line 95 of file include/hpp/fcl/fwd.hh.

CollisionObjectPtr_t

typedef shared_ptr<CollisionObject> hpp::fcl::CollisionObjectPtr_t

Definition at line 93 of file include/hpp/fcl/fwd.hh.

ContinuousCollisionCallBack

template<typename S >

using hpp::fcl::ContinuousCollisionCallBack = typedef bool (*)(ContinuousCollisionObject* o1, ContinuousCollisionObject* 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.

ContinuousDistanceCallBack

template<typename S >

using hpp::fcl::ContinuousDistanceCallBack = typedef bool (*)(ContinuousCollisionObject* o1, ContinuousCollisionObject* o2, 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.

FCL_REAL

typedef double hpp::fcl::FCL_REAL

Definition at line 65 of file data_types.h.

Matrix3f

typedef Eigen::Matrix<FCL_REAL, 3, 3> hpp::fcl::Matrix3f

Definition at line 68 of file data_types.h.

Matrixx3f

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3> hpp::fcl::Matrixx3f

Definition at line 69 of file data_types.h.

Matrixx3i

typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3> hpp::fcl::Matrixx3i

Definition at line 70 of file data_types.h.

MatrixXf

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> hpp::fcl::MatrixXf

Definition at line 71 of file data_types.h.

OcTreeConstPtr_t

typedef shared_ptr<const OcTree> hpp::fcl::OcTreeConstPtr_t

Definition at line 108 of file include/hpp/fcl/fwd.hh.

OcTreePtr_t

typedef shared_ptr<OcTree> hpp::fcl::OcTreePtr_t

Definition at line 106 of file include/hpp/fcl/fwd.hh.

Quaternion3f

typedef Eigen::Quaternion<FCL_REAL> hpp::fcl::Quaternion3f

Definition at line 46 of file transform.h.

support_func_guess_t

typedef Eigen::Vector2i hpp::fcl::support_func_guess_t

Definition at line 72 of file data_types.h.

Vec3f

typedef Eigen::Matrix<FCL_REAL, 3, 1> hpp::fcl::Vec3f

Definition at line 66 of file data_types.h.

VecXf

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> hpp::fcl::VecXf

Definition at line 67 of file data_types.h.

Enumeration Type Documentation

BVHBuildState

enum hpp::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 after beginReplaceModel(), state for replacing geometry primitives

Definition at line 50 of file BVH_internal.h.

BVHModelType

enum hpp::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 80 of file BVH_internal.h.

BVHReturnCode

enum hpp::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 64 of file BVH_internal.h.

CollisionRequestFlag

enum hpp::fcl::CollisionRequestFlag

flag declaration for specifying required params in CollisionResult

Enumerator
CONTACT
DISTANCE_LOWER_BOUND
NO_REQUEST

Definition at line 228 of file collision_data.h.

GJKConvergenceCriterion

enum hpp::fcl::GJKConvergenceCriterion

Which convergence criterion is used to stop the algorithm (when the shapes are not in collision). (default) VDB: Van den Bergen (A Fast and Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG.

Enumerator
VDB
DualityGap
Hybrid

Definition at line 89 of file data_types.h.

GJKConvergenceCriterionType

enum hpp::fcl::GJKConvergenceCriterionType

Wether the convergence criterion is scaled on the norm of the solution or not.

Enumerator
Relative
Absolute

Definition at line 93 of file data_types.h.

GJKInitialGuess

enum hpp::fcl::GJKInitialGuess

Initial guess to use for the GJK algorithm DefaultGuess: Vec3f(1, 0, 0) CachedGuess: previous vector found by GJK or guess cached by the user BoundingVolumeGuess: guess using the centers of the shapes' AABB WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called on the two shapes.

Enumerator
DefaultGuess
CachedGuess
BoundingVolumeGuess

Definition at line 80 of file data_types.h.

GJKVariant

enum hpp::fcl::GJKVariant

Variant to use for the GJK algorithm.

Enumerator
DefaultGJK
NesterovAcceleration

Definition at line 83 of file data_types.h.

NODE_TYPE

enum hpp::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, 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_CAPSULE
GEOM_CONE
GEOM_CYLINDER
GEOM_CONVEX
GEOM_PLANE
GEOM_HALFSPACE
GEOM_TRIANGLE
GEOM_OCTREE
GEOM_ELLIPSOID
HF_AABB
HF_OBBRSS
NODE_COUNT

Definition at line 65 of file collision_object.h.

OBJECT_TYPE

enum hpp::fcl::OBJECT_TYPE

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

Enumerator
OT_UNKNOWN
OT_BVH
OT_GEOM
OT_OCTREE
OT_HFIELD
OT_COUNT

Definition at line 53 of file collision_object.h.

SplitMethodType

enum hpp::fcl::SplitMethodType

Three types of split algorithms are provided in FCL as default.

Enumerator
SPLIT_METHOD_MEAN
SPLIT_METHOD_MEDIAN
SPLIT_METHOD_BV_CENTER

Definition at line 51 of file internal/BV_splitter.h.

Function Documentation

_load()

template<typename BV >

BVHModelPtr_t hpp::fcl::_load	(	const std::string &	filename,
		const Vec3f &	scale
	)

Definition at line 62 of file loader.cpp.

axisFromEigen()

static void hpp::fcl::axisFromEigen ( Vec3f  eigenV[3], Matrix3f::Scalar  eigenS[3], Matrix3f &  axes  )

inlinestatic

Definition at line 50 of file BV_fitter.cpp.

BVHCollide() [1/2]

template<typename T_BVH >

std::size_t hpp::fcl::BVHCollide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 214 of file collision_func_matrix.cpp.

BVHCollide() [2/2]

template<typename T_BVH >

std::size_t hpp::fcl::BVHCollide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 269 of file collision_func_matrix.cpp.

BVHCollide< kIOS >()

template<>

std::size_t hpp::fcl::BVHCollide< kIOS >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 258 of file collision_func_matrix.cpp.

BVHCollide< OBB >()

template<>

std::size_t hpp::fcl::BVHCollide< OBB >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 238 of file collision_func_matrix.cpp.

BVHCollide< OBBRSS >()

template<>

std::size_t hpp::fcl::BVHCollide< OBBRSS >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 247 of file collision_func_matrix.cpp.

BVHDistance() [1/2]

template<typename T_BVH >

FCL_REAL hpp::fcl::BVHDistance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 202 of file distance_func_matrix.cpp.

BVHDistance() [2/2]

template<typename T_BVH >

FCL_REAL hpp::fcl::BVHDistance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 273 of file distance_func_matrix.cpp.

BVHDistance< kIOS >()

template<>

FCL_REAL hpp::fcl::BVHDistance< kIOS >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 253 of file distance_func_matrix.cpp.

BVHDistance< OBBRSS >()

template<>

FCL_REAL hpp::fcl::BVHDistance< OBBRSS >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 262 of file distance_func_matrix.cpp.

BVHDistance< RSS >()

template<>

FCL_REAL hpp::fcl::BVHDistance< RSS >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 244 of file distance_func_matrix.cpp.

BVHExtract() [1/9]

template<>

BVHModel< AABB > * hpp::fcl::BVHExtract	(	const BVHModel< AABB > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 133 of file BVH_utility.cpp.

BVHExtract() [2/9]

template<typename BV >

HPP_FCL_DLLAPI BVHModel<BV>* hpp::fcl::BVHExtract	(	const BVHModel< BV > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside.

Definition at line 47 of file BVH_utility.cpp.

BVHExtract() [3/9]

template<>

BVHModel< KDOP< 16 > > * hpp::fcl::BVHExtract	(	const BVHModel< KDOP< 16 > > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 153 of file BVH_utility.cpp.

BVHExtract() [4/9]

template<>

BVHModel< KDOP< 18 > > * hpp::fcl::BVHExtract	(	const BVHModel< KDOP< 18 > > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 158 of file BVH_utility.cpp.

BVHExtract() [5/9]

template<>

BVHModel< KDOP< 24 > > * hpp::fcl::BVHExtract	(	const BVHModel< KDOP< 24 > > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 163 of file BVH_utility.cpp.

BVHExtract() [6/9]

template<>

BVHModel< kIOS > * hpp::fcl::BVHExtract	(	const BVHModel< kIOS > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 143 of file BVH_utility.cpp.

BVHExtract() [7/9]

template<>

BVHModel< OBB > * hpp::fcl::BVHExtract	(	const BVHModel< OBB > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 128 of file BVH_utility.cpp.

BVHExtract() [8/9]

template<>

BVHModel< OBBRSS > * hpp::fcl::BVHExtract	(	const BVHModel< OBBRSS > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 148 of file BVH_utility.cpp.

BVHExtract() [9/9]

template<>

BVHModel< RSS > * hpp::fcl::BVHExtract	(	const BVHModel< RSS > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 138 of file BVH_utility.cpp.

circumCircleComputation()

void hpp::fcl::circumCircleComputation	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c,
		Vec3f &	center,
		FCL_REAL &	radius
	)

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

Definition at line 571 of file BVH_utility.cpp.

clamp()

FCL_REAL hpp::fcl::clamp	(	const FCL_REAL &	num,
		const FCL_REAL &	denom
	)

Clamp num / denom in [0, 1].

Definition at line 53 of file src/distance/capsule_capsule.cpp.

clamped_linear()

void hpp::fcl::clamped_linear	(	Vec3f &	a_sd,
		const Vec3f &	a,
		const FCL_REAL &	s_n,
		const FCL_REAL &	s_d,
		const Vec3f &	d
	)

Clamp s=s_n/s_d in [0, 1] and stores a + s * d in a_sd.

Definition at line 64 of file src/distance/capsule_capsule.cpp.

clipToRange()

void hpp::fcl::clipToRange	(	FCL_REAL &	val,
		FCL_REAL	a,
		FCL_REAL	b
	)

Clip value between a and b.

Definition at line 49 of file RSS.cpp.

collide() [1/5]

void hpp::fcl::collide	(	CollisionTraversalNodeBase *	node,
		const CollisionRequest &	request,
		CollisionResult &	result,
		BVHFrontList *	front_list,
		bool	recursive
	)

Definition at line 44 of file collision_node.cpp.

collide() [2/5]

std::size_t hpp::fcl::collide ( const CollisionGeometry *  o1, const Transform3f &  tf1, const CollisionGeometry *  o2, const Transform3f &  tf2, CollisionRequest &  request, CollisionResult &  result  )

inline

Note

this function update the initial guess of request if requested. See QueryRequest::updateGuess

Definition at line 87 of file collision.h.

collide() [3/5]

std::size_t hpp::fcl::collide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Definition at line 70 of file src/collision.cpp.

collide() [4/5]

std::size_t hpp::fcl::collide ( const CollisionObject *  o1, const CollisionObject *  o2, CollisionRequest &  request, CollisionResult &  result  )

inline

Note

this function update the initial guess of request if requested. See QueryRequest::updateGuess

Definition at line 76 of file collision.h.

collide() [5/5]

std::size_t hpp::fcl::collide	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const CollisionRequest &	request,
		CollisionResult &	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 63 of file src/collision.cpp.

collisionNonRecurse()

void hpp::fcl::collisionNonRecurse	(	CollisionTraversalNodeBase *	node,
		BVHFrontList *	front_list,
		FCL_REAL &	sqrDistLowerBound
	)

Definition at line 87 of file traversal_recurse.cpp.

collisionRecurse()

void hpp::fcl::collisionRecurse	(	CollisionTraversalNodeBase *	node,
		unsigned int	b1,
		unsigned int	b2,
		BVHFrontList *	front_list,
		FCL_REAL &	sqrDistLowerBound
	)

Definition at line 44 of file traversal_recurse.cpp.

computeBV()

template<typename BV , typename S >

void hpp::fcl::computeBV ( const S &  s, const Transform3f &  tf, BV &  bv  )

inline

calculate a bounding volume for a shape in a specific configuration

Definition at line 74 of file geometric_shapes_utility.h.

computeBV< AABB, Box >()

template<>

void hpp::fcl::computeBV< AABB, Box >	(	const Box &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 275 of file geometric_shapes_utility.cpp.

computeBV< AABB, Capsule >()

template<>

void hpp::fcl::computeBV< AABB, Capsule >	(	const Capsule &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 305 of file geometric_shapes_utility.cpp.

computeBV< AABB, Cone >()

template<>

void hpp::fcl::computeBV< AABB, Cone >	(	const Cone &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 316 of file geometric_shapes_utility.cpp.

computeBV< AABB, ConvexBase >()

template<>

void hpp::fcl::computeBV< AABB, ConvexBase >	(	const ConvexBase &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 351 of file geometric_shapes_utility.cpp.

computeBV< AABB, Cylinder >()

template<>

void hpp::fcl::computeBV< AABB, Cylinder >	(	const Cylinder &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 333 of file geometric_shapes_utility.cpp.

computeBV< AABB, Ellipsoid >()

template<>

void hpp::fcl::computeBV< AABB, Ellipsoid >	(	const Ellipsoid &	e,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 294 of file geometric_shapes_utility.cpp.

computeBV< AABB, Halfspace >()

template<>

void hpp::fcl::computeBV< AABB, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 372 of file geometric_shapes_utility.cpp.

computeBV< AABB, Plane >()

template<>

void hpp::fcl::computeBV< AABB, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 405 of file geometric_shapes_utility.cpp.

computeBV< AABB, Sphere >()

template<>

void hpp::fcl::computeBV< AABB, Sphere >	(	const Sphere &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 285 of file geometric_shapes_utility.cpp.

computeBV< AABB, TriangleP >()

template<>

void hpp::fcl::computeBV< AABB, TriangleP >	(	const TriangleP &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Definition at line 366 of file geometric_shapes_utility.cpp.

computeBV< KDOP< 16 >, Halfspace >()

template<>

void hpp::fcl::computeBV< KDOP< 16 >, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		KDOP< 16 > &	bv
	)

Definition at line 536 of file geometric_shapes_utility.cpp.

computeBV< KDOP< 16 >, Plane >()

template<>

void hpp::fcl::computeBV< KDOP< 16 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 16 > &	bv
	)

Definition at line 776 of file geometric_shapes_utility.cpp.

computeBV< KDOP< 18 >, Halfspace >()

template<>

void hpp::fcl::computeBV< KDOP< 18 >, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		KDOP< 18 > &	bv
	)

Definition at line 592 of file geometric_shapes_utility.cpp.

computeBV< KDOP< 18 >, Plane >()

template<>

void hpp::fcl::computeBV< KDOP< 18 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 18 > &	bv
	)

Definition at line 818 of file geometric_shapes_utility.cpp.

computeBV< KDOP< 24 >, Halfspace >()

template<>

void hpp::fcl::computeBV< KDOP< 24 >, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		KDOP< 24 > &	bv
	)

Definition at line 654 of file geometric_shapes_utility.cpp.

computeBV< KDOP< 24 >, Plane >()

template<>

void hpp::fcl::computeBV< KDOP< 24 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 24 > &	bv
	)

Definition at line 862 of file geometric_shapes_utility.cpp.

computeBV< kIOS, Halfspace >()

template<>

void hpp::fcl::computeBV< kIOS, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		kIOS &	bv
	)

Definition at line 527 of file geometric_shapes_utility.cpp.

computeBV< kIOS, Plane >()

template<>

void hpp::fcl::computeBV< kIOS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		kIOS &	bv
	)

Definition at line 768 of file geometric_shapes_utility.cpp.

computeBV< OBB, Box >()

template<>

void hpp::fcl::computeBV< OBB, Box >	(	const Box &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Definition at line 440 of file geometric_shapes_utility.cpp.

computeBV< OBB, Capsule >()

template<>

void hpp::fcl::computeBV< OBB, Capsule >	(	const Capsule &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Definition at line 459 of file geometric_shapes_utility.cpp.

computeBV< OBB, Cone >()

template<>

void hpp::fcl::computeBV< OBB, Cone >	(	const Cone &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Definition at line 469 of file geometric_shapes_utility.cpp.

computeBV< OBB, ConvexBase >()

template<>

void hpp::fcl::computeBV< OBB, ConvexBase >	(	const ConvexBase &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Definition at line 490 of file geometric_shapes_utility.cpp.

computeBV< OBB, Cylinder >()

template<>

void hpp::fcl::computeBV< OBB, Cylinder >	(	const Cylinder &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Definition at line 479 of file geometric_shapes_utility.cpp.

computeBV< OBB, Halfspace >()

template<>

void hpp::fcl::computeBV< OBB, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Half space can only have very rough OBB

Half space can only have very rough OBB

Definition at line 503 of file geometric_shapes_utility.cpp.

computeBV< OBB, Plane >()

template<>

void hpp::fcl::computeBV< OBB, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

n'd' = R * n * (d + (R * n) * T) = R * (n * d) + T

n'd' = R * n * (d + (R * n) * T) = R * (n * d) + T

Definition at line 731 of file geometric_shapes_utility.cpp.

computeBV< OBB, Sphere >()

template<>

void hpp::fcl::computeBV< OBB, Sphere >	(	const Sphere &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Definition at line 450 of file geometric_shapes_utility.cpp.

computeBV< OBBRSS, Halfspace >()

template<>

void hpp::fcl::computeBV< OBBRSS, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		OBBRSS &	bv
	)

Definition at line 520 of file geometric_shapes_utility.cpp.

computeBV< OBBRSS, Plane >()

template<>

void hpp::fcl::computeBV< OBBRSS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		OBBRSS &	bv
	)

Definition at line 761 of file geometric_shapes_utility.cpp.

computeBV< RSS, Halfspace >()

template<>

void hpp::fcl::computeBV< RSS, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		RSS &	bv
	)

Half space can only have very rough RSS

Half space can only have very rough RSS

Definition at line 511 of file geometric_shapes_utility.cpp.

computeBV< RSS, Plane >()

template<>

void hpp::fcl::computeBV< RSS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		RSS &	bv
	)

Definition at line 745 of file geometric_shapes_utility.cpp.

computeChildBV()

static void hpp::fcl::computeChildBV ( const AABB &  root_bv, unsigned int  i, AABB &  child_bv  )

inlinestatic

compute the bounding volume of an octree node's i-th child

Definition at line 239 of file octree.h.

computeMemoryFootprint()

template<typename T >

size_t hpp::fcl::computeMemoryFootprint

(

const T &

object

)

Returns the memory footpring of the input object. For POD objects, this function returns the result of sizeof(T)

Parameters

[in]

object

whose memory footprint needs to be evaluated.

Returns

the memory footprint of the input object.

Definition at line 25 of file memory.h.

computeSplitValue_bvcenter()

template<typename BV >

void hpp::fcl::computeSplitValue_bvcenter	(	const BV &	bv,
		FCL_REAL &	split_value
	)

Definition at line 87 of file BV_splitter.cpp.

computeSplitValue_mean()

template<typename BV >

void hpp::fcl::computeSplitValue_mean	(	const BV &	,
		Vec3f *	vertices,
		Triangle *	triangles,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives,
		BVHModelType	type,
		const Vec3f &	split_vector,
		FCL_REAL &	split_value
	)

Definition at line 93 of file BV_splitter.cpp.

computeSplitValue_median()

template<typename BV >

void hpp::fcl::computeSplitValue_median	(	const BV &	,
		Vec3f *	vertices,
		Triangle *	triangles,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives,
		BVHModelType	type,
		const Vec3f &	split_vector,
		FCL_REAL &	split_value
	)

Definition at line 121 of file BV_splitter.cpp.

computeSplitVector()

template<typename BV >

void hpp::fcl::computeSplitVector	(	const BV &	bv,
		Vec3f &	split_vector
	)

Definition at line 44 of file BV_splitter.cpp.

computeSplitVector< kIOS >()

template<>

void hpp::fcl::computeSplitVector< kIOS >	(	const kIOS &	bv,
		Vec3f &	split_vector
	)

Definition at line 49 of file BV_splitter.cpp.

computeSplitVector< OBBRSS >()

template<>

void hpp::fcl::computeSplitVector< OBBRSS >	(	const OBBRSS &	bv,
		Vec3f &	split_vector
	)

Definition at line 82 of file BV_splitter.cpp.

computeVertices()

void hpp::fcl::computeVertices ( const OBB &  b, Vec3f  vertices[8]  )

inline

Compute the 8 vertices of a OBB.

Definition at line 51 of file OBB.cpp.

constructBox() [1/16]

void hpp::fcl::constructBox	(	const AABB &	bv,
		Box &	box,
		Transform3f &	tf
	)

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

Definition at line 911 of file geometric_shapes_utility.cpp.

constructBox() [2/16]

void hpp::fcl::constructBox	(	const AABB &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 951 of file geometric_shapes_utility.cpp.

constructBox() [3/16]

void hpp::fcl::constructBox	(	const KDOP< 16 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 936 of file geometric_shapes_utility.cpp.

constructBox() [4/16]

void hpp::fcl::constructBox	(	const KDOP< 16 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 981 of file geometric_shapes_utility.cpp.

constructBox() [5/16]

void hpp::fcl::constructBox	(	const KDOP< 18 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 941 of file geometric_shapes_utility.cpp.

constructBox() [6/16]

void hpp::fcl::constructBox	(	const KDOP< 18 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 987 of file geometric_shapes_utility.cpp.

constructBox() [7/16]

void hpp::fcl::constructBox	(	const KDOP< 24 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 946 of file geometric_shapes_utility.cpp.

constructBox() [8/16]

void hpp::fcl::constructBox	(	const KDOP< 24 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 993 of file geometric_shapes_utility.cpp.

constructBox() [9/16]

void hpp::fcl::constructBox	(	const kIOS &	bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 926 of file geometric_shapes_utility.cpp.

constructBox() [10/16]

void hpp::fcl::constructBox	(	const kIOS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 969 of file geometric_shapes_utility.cpp.

constructBox() [11/16]

void hpp::fcl::constructBox	(	const OBB &	bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 916 of file geometric_shapes_utility.cpp.

constructBox() [12/16]

void hpp::fcl::constructBox	(	const OBB &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 957 of file geometric_shapes_utility.cpp.

constructBox() [13/16]

void hpp::fcl::constructBox	(	const OBBRSS &	bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 921 of file geometric_shapes_utility.cpp.

constructBox() [14/16]

void hpp::fcl::constructBox	(	const OBBRSS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 963 of file geometric_shapes_utility.cpp.

constructBox() [15/16]

void hpp::fcl::constructBox	(	const RSS &	bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 931 of file geometric_shapes_utility.cpp.

constructBox() [16/16]

void hpp::fcl::constructBox	(	const RSS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

Definition at line 975 of file geometric_shapes_utility.cpp.

constructPolytopeFromEllipsoid()

Convex< Triangle > hpp::fcl::constructPolytopeFromEllipsoid

(

const Ellipsoid &

ellipsoid

)

We give an ellipsoid as input. The output is a 20 faces polytope which vertices belong to the original ellipsoid surface. The procedure is simple: we construct a icosahedron, see https://sinestesia.co/blog/tutorials/python-icospheres/ . We then apply an ellipsoid tranformation to each vertex of the icosahedron.

Definition at line 477 of file utility.cpp.

convertBV() [1/2]

template<typename BV1 , typename BV2 >

static void hpp::fcl::convertBV ( const BV1 &  bv1, BV2 &  bv2  )

inlinestatic

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

Definition at line 284 of file BV.h.

convertBV() [2/2]

template<typename BV1 , typename BV2 >

static void hpp::fcl::convertBV ( const BV1 &  bv1, const Transform3f &  tf1, BV2 &  bv2  )

inlinestatic

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

Definition at line 277 of file BV.h.

defaultCollisionFunction()

bool hpp::fcl::defaultCollisionFunction	(	CollisionObject *	o1,
		CollisionObject *	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 CollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's CollisionResult instance.

Default collision callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now.

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 CollisionData, if broadphase evaluation has already terminated (i.e., defaultCollisionFunction() returned true), subsequent invocations with the same instance of CollisionData 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 CollisionData 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 43 of file default_broadphase_callbacks.cpp.

defaultDistanceFunction()

bool hpp::fcl::defaultDistanceFunction	(	CollisionObject *	o1,
		CollisionObject *	o2,
		void *	data,
		FCL_REAL &	dist
	)

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).

Default distance callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now. also return dist, i.e. the bmin distance till now.

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 CollisionData 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 CollisionData instance.

Returns

True if the broadphase evaluation should stop.

Template Parameters

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

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 DistanceData. 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 DistanceData, if broadphase evaluation has already terminated (i.e., defaultDistanceFunction() returned true), subsequent invocations with the same instance of DistanceData 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 DistanceData 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 67 of file default_broadphase_callbacks.cpp.

distance() [1/5]

FCL_REAL hpp::fcl::distance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 60 of file src/distance.cpp.

distance() [2/5]

FCL_REAL hpp::fcl::distance ( const CollisionGeometry *  o1, const Transform3f &  tf1, const CollisionGeometry *  o2, const Transform3f &  tf2, DistanceRequest &  request, DistanceResult &  result  )

inline

Note

this function update the initial guess of request if requested. See QueryRequest::updateGuess

Definition at line 82 of file distance.h.

distance() [3/5]

FCL_REAL hpp::fcl::distance	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const DistanceRequest &	request,
		DistanceResult &	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 53 of file src/distance.cpp.

distance() [4/5]

FCL_REAL hpp::fcl::distance ( const CollisionObject *  o1, const CollisionObject *  o2, DistanceRequest &  request, DistanceResult &  result  )

inline

Note

this function update the initial guess of request if requested. See QueryRequest::updateGuess

Definition at line 71 of file distance.h.

distance() [5/5]

void hpp::fcl::distance	(	DistanceTraversalNodeBase *	node,
		BVHFrontList *	front_list,
		unsigned int	qsize
	)

Definition at line 68 of file collision_node.cpp.

distanceQueueRecurse()

void hpp::fcl::distanceQueueRecurse	(	DistanceTraversalNodeBase *	node,
		unsigned int	b1,
		unsigned int	b2,
		BVHFrontList *	front_list,
		unsigned int	qsize
	)

Definition at line 242 of file traversal_recurse.cpp.

distanceRecurse()

void hpp::fcl::distanceRecurse	(	DistanceTraversalNodeBase *	node,
		unsigned int	b1,
		unsigned int	b2,
		BVHFrontList *	front_list
	)

Recurse function for self collision Make sure node is set correctly so that the first and second tree are the same

Definition at line 153 of file traversal_recurse.cpp.

eigen()

template<typename Derived , typename Vector >

void hpp::fcl::eigen	(	const Eigen::MatrixBase< Derived > &	m,
		typename Derived::Scalar	dout[3],
		Vector *	vout
	)

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

Definition at line 104 of file tools.h.

eulerToMatrix()

void hpp::fcl::eulerToMatrix	(	FCL_REAL	a,
		FCL_REAL	b,
		FCL_REAL	c,
		Matrix3f &	R
	)

Definition at line 196 of file utility.cpp.

extract()

CollisionGeometry * hpp::fcl::extract	(	const CollisionGeometry *	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Definition at line 68 of file collision_utility.cpp.

fit() [1/6]

template<>

void hpp::fcl::fit	(	Vec3f *	ps,
		unsigned int	n,
		AABB &	bv
	)

Definition at line 472 of file BV_fitter.cpp.

fit() [2/6]

template<typename BV >

void hpp::fcl::fit	(	Vec3f *	ps,
		unsigned int	n,
		BV &	bv
	)

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

Definition at line 52 of file BV_fitter.h.

fit() [3/6]

template<>

void hpp::fcl::fit	(	Vec3f *	ps,
		unsigned int	n,
		kIOS &	bv
	)

Definition at line 438 of file BV_fitter.cpp.

fit() [4/6]

template<>

void hpp::fcl::fit	(	Vec3f *	ps,
		unsigned int	n,
		OBB &	bv
	)

Definition at line 401 of file BV_fitter.cpp.

fit() [5/6]

template<>

void hpp::fcl::fit	(	Vec3f *	ps,
		unsigned int	n,
		OBBRSS &	bv
	)

Definition at line 455 of file BV_fitter.cpp.

fit() [6/6]

template<>

void hpp::fcl::fit	(	Vec3f *	ps,
		unsigned int	n,
		RSS &	bv
	)

Definition at line 421 of file BV_fitter.cpp.

fit< AABB >()

template<>

void hpp::fcl::fit< AABB >	(	Vec3f *	ps,
		unsigned int	n,
		AABB &	bv
	)

fit< kIOS >()

template<>

void hpp::fcl::fit< kIOS >	(	Vec3f *	ps,
		unsigned int	n,
		kIOS &	bv
	)

fit< OBB >()

template<>

void hpp::fcl::fit< OBB >	(	Vec3f *	ps,
		unsigned int	n,
		OBB &	bv
	)

fit< OBBRSS >()

template<>

void hpp::fcl::fit< OBBRSS >	(	Vec3f *	ps,
		unsigned int	n,
		OBBRSS &	bv
	)

fit< RSS >()

template<>

void hpp::fcl::fit< RSS >	(	Vec3f *	ps,
		unsigned int	n,
		RSS &	bv
	)

fromAxisAngle()

template<typename Derived >

Quaternion3f hpp::fcl::fromAxisAngle ( const Eigen::MatrixBase< Derived > &  axis, FCL_REAL  angle  )

inline

Definition at line 209 of file transform.h.

generateBVHModel() [1/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Box &	shape,
		const Transform3f &	pose
	)

Generate BVH model from box.

Definition at line 50 of file geometric_shape_to_BVH_model.h.

generateBVHModel() [2/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cone &	shape,
		const Transform3f &	pose,
		unsigned int	tot,
		unsigned int	h_num
	)

Generate BVH model from cone, given the number of segments along circle and the number of segments along axis.

Definition at line 265 of file geometric_shape_to_BVH_model.h.

generateBVHModel() [3/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cone &	shape,
		const Transform3f &	pose,
		unsigned int	tot_for_unit_cone
	)

Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cone with larger radius, the number of circle split number is r * tot.

Definition at line 338 of file geometric_shape_to_BVH_model.h.

generateBVHModel() [4/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cylinder &	shape,
		const Transform3f &	pose,
		unsigned int	tot,
		unsigned int	h_num
	)

Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis.

Definition at line 173 of file geometric_shape_to_BVH_model.h.

generateBVHModel() [5/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Cylinder &	shape,
		const Transform3f &	pose,
		unsigned int	tot_for_unit_cylinder
	)

Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cylinder with larger radius, the number of circle split number is r * tot.

Definition at line 246 of file geometric_shape_to_BVH_model.h.

generateBVHModel() [6/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Sphere &	shape,
		const Transform3f &	pose,
		unsigned int	n_faces_for_unit_sphere
	)

Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s.

Definition at line 158 of file geometric_shape_to_BVH_model.h.

generateBVHModel() [7/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Sphere &	shape,
		const Transform3f &	pose,
		unsigned int	seg,
		unsigned int	ring
	)

Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude.

Definition at line 92 of file geometric_shape_to_BVH_model.h.

generateCoordinateSystem()

template<typename Derived1 , typename Derived2 , typename Derived3 >

void hpp::fcl::generateCoordinateSystem	(	const Eigen::MatrixBase< Derived1 > &	_w,
		const Eigen::MatrixBase< Derived2 > &	_u,
		const Eigen::MatrixBase< Derived3 > &	_v
	)

Definition at line 60 of file tools.h.

generateEnvironments()

void hpp::fcl::generateEnvironments	(	std::vector< CollisionObject * > &	env,
		FCL_REAL	env_scale,
		std::size_t	n
	)

Definition at line 390 of file utility.cpp.

generateEnvironmentsMesh()

void hpp::fcl::generateEnvironmentsMesh	(	std::vector< CollisionObject * > &	env,
		FCL_REAL	env_scale,
		std::size_t	n
	)

Definition at line 421 of file utility.cpp.

generateRandomTransform()

void hpp::fcl::generateRandomTransform	(	FCL_REAL	extents[6],
		Transform3f &	transform
	)

Generate one random transform whose translation is constrained by extents and rotation without constraints. The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5].

Definition at line 208 of file utility.cpp.

generateRandomTransforms() [1/2]

void hpp::fcl::generateRandomTransforms	(	FCL_REAL	extents[6],
		FCL_REAL	delta_trans[3],
		FCL_REAL	delta_rot,
		std::vector< Transform3f > &	transforms,
		std::vector< Transform3f > &	transforms2,
		std::size_t	n
	)

Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated.

Definition at line 247 of file utility.cpp.

generateRandomTransforms() [2/2]

void hpp::fcl::generateRandomTransforms	(	FCL_REAL	extents[6],
		std::vector< Transform3f > &	transforms,
		std::size_t	n
	)

Generate n random transforms whose translations are constrained by extents.

Definition at line 224 of file utility.cpp.

get_node_type_name()

const char* hpp::fcl::get_node_type_name ( NODE_TYPE  node_type )

inline

Returns the name associated to a NODE_TYPE.

Definition at line 33 of file collision_utility.h.

get_object_type_name()

const char* hpp::fcl::get_object_type_name ( OBJECT_TYPE  object_type )

inline

Returns the name associated to a OBJECT_TYPE.

Definition at line 48 of file collision_utility.h.

getCollisionFunctionLookTable()

CollisionFunctionMatrix& hpp::fcl::getCollisionFunctionLookTable

(

)

Definition at line 48 of file src/collision.cpp.

getCovariance()

void hpp::fcl::getCovariance	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		Matrix3f &	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 168 of file BVH_utility.cpp.

getDistanceFunctionLookTable()

DistanceFunctionMatrix& hpp::fcl::getDistanceFunctionLookTable

(

)

Definition at line 48 of file src/distance.cpp.

getDistances()

template<short N>

void hpp::fcl::getDistances	(	const Vec3f &	,
		FCL_REAL *
	)

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

Definition at line 66 of file kDOP.cpp.

getDistances< 5 >()

template<>

void hpp::fcl::getDistances< 5 > ( const Vec3f &  p, FCL_REAL *  d  )

inline

Specification of getDistances.

Definition at line 70 of file kDOP.cpp.

getDistances< 6 >()

template<>

void hpp::fcl::getDistances< 6 > ( const Vec3f &  p, FCL_REAL *  d  )

inline

Definition at line 79 of file kDOP.cpp.

getDistances< 9 >()

template<>

void hpp::fcl::getDistances< 9 > ( const Vec3f &  p, FCL_REAL *  d  )

inline

Definition at line 89 of file kDOP.cpp.

getExtentAndCenter()

void hpp::fcl::getExtentAndCenter	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		Matrix3f &	axes,
		Vec3f &	center,
		Vec3f &	extent
	)

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

Definition at line 562 of file BVH_utility.cpp.

getExtentAndCenter_mesh()

static void hpp::fcl::getExtentAndCenter_mesh ( Vec3f *  ps, Vec3f *  ps2, Triangle *  ts, unsigned int *  indices, unsigned int  n, Matrix3f &  axes, Vec3f &  center, Vec3f &  extent  )

inlinestatic

Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.

Definition at line 514 of file BVH_utility.cpp.

getExtentAndCenter_pointcloud()

static void hpp::fcl::getExtentAndCenter_pointcloud ( Vec3f *  ps, Vec3f *  ps2, unsigned int *  indices, unsigned int  n, Matrix3f &  axes, Vec3f &  center, Vec3f &  extent  )

inlinestatic

Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known.

Definition at line 472 of file BVH_utility.cpp.

getNbRun()

std::size_t hpp::fcl::getNbRun	(	const int &	argc,
		char const *const *	argv,
		std::size_t	defaultValue
	)

Get the argument –nb-run from argv.

Definition at line 382 of file utility.cpp.

getNodeTypeName()

std::string hpp::fcl::getNodeTypeName

(

NODE_TYPE

node_type

)

Definition at line 325 of file utility.cpp.

getRadiusAndOriginAndRectangleSize()

void hpp::fcl::getRadiusAndOriginAndRectangleSize	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		const Matrix3f &	axes,
		Vec3f &	origin,
		FCL_REAL	l[2],
		FCL_REAL &	r
	)

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

Compute the RSS bounding volume parameters: radius, rectangle size and the origin. The bounding volume axes are known.

Definition at line 249 of file BVH_utility.cpp.

HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR() [1/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR	(	Sphere	,
		Box
	)

HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR() [2/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR	(	Sphere	,
		Capsule
	)

HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR() [3/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR	(	Sphere	,
		Cylinder
	)

HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF() [1/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF

(

Capsule

)

HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF() [2/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF

(

Sphere

)

HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF() [3/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF

(

TriangleP

)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [1/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Box	,
		Halfspace
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [2/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Box	,
		Plane
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [3/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Capsule	,
		Halfspace
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [4/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Capsule	,
		Plane
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [5/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Cone	,
		Halfspace
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [6/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Cone	,
		Plane
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [7/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Cylinder	,
		Halfspace
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [8/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Cylinder	,
		Plane
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [9/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Plane	,
		Halfspace
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [10/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Sphere	,
		Capsule
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [11/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Sphere	,
		Halfspace
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR() [12/12]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR	(	Sphere	,
		Plane
	)

HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF() [1/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF

(

Halfspace

)

HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF() [2/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF

(

Plane

)

HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF() [3/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF

(

Sphere

)

HPP_FCL_DECLARE_SHAPE_TRIANGLE() [1/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE

(

Halfspace

)

HPP_FCL_DECLARE_SHAPE_TRIANGLE() [2/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE

(

Plane

)

HPP_FCL_DECLARE_SHAPE_TRIANGLE() [3/3]

hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE

(

Sphere

)

inVoronoi()

bool hpp::fcl::inVoronoi	(	FCL_REAL	a,
		FCL_REAL	b,
		FCL_REAL	Anorm_dot_B,
		FCL_REAL	Anorm_dot_T,
		FCL_REAL	A_dot_B,
		FCL_REAL	A_dot_T,
		FCL_REAL	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 95 of file RSS.cpp.

isEqual()

template<typename Derived , typename OtherDerived >

bool hpp::fcl::isEqual	(	const Eigen::MatrixBase< Derived > &	lhs,
		const Eigen::MatrixBase< OtherDerived > &	rhs,
		const FCL_REAL	tol = std::numeric_limits<FCL_REAL>::epsilon() * 100
	)

Definition at line 209 of file tools.h.

loadOBJFile()

void hpp::fcl::loadOBJFile	(	const char *	filename,
		std::vector< Vec3f > &	points,
		std::vector< Triangle > &	triangles
	)

Load an obj mesh file.

Definition at line 96 of file utility.cpp.

loadPolyhedronFromResource()

template<class BoundingVolume >

void hpp::fcl::loadPolyhedronFromResource ( const std::string &  resource_path, const fcl::Vec3f &  scale, const shared_ptr< BVHModel< BoundingVolume > > &  polyhedron  )

inline

Read a mesh file and convert it to a polyhedral mesh.

Parameters

[in]	resource_path	Path to the ressource mesh file to be read
[in]	scale	Scale to apply when reading the ressource
[out]	polyhedron	The resulted polyhedron

Definition at line 118 of file assimp.h.

makeOctree()

OcTreePtr_t hpp::fcl::makeOctree	(	const Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > &	point_cloud,
		const FCL_REAL	resolution
	)

Build an OcTree from a point cloud and a given resolution.

Parameters

[in]	point_cloud	The input points to insert in the OcTree
[in]	resolution	of the octree.

Returns

An OcTree that can be used for collision checking and more.

Definition at line 185 of file src/octree.cpp.

makeQuat()

Quaternion3f hpp::fcl::makeQuat	(	FCL_REAL	w,
		FCL_REAL	x,
		FCL_REAL	y,
		FCL_REAL	z
	)

Definition at line 368 of file utility.cpp.

maximumDistance()

FCL_REAL hpp::fcl::maximumDistance	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		unsigned int	n,
		const Vec3f &	query
	)

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

Definition at line 644 of file BVH_utility.cpp.

maximumDistance_mesh()

static FCL_REAL hpp::fcl::maximumDistance_mesh ( Vec3f *  ps, Vec3f *  ps2, Triangle *  ts, unsigned int *  indices, unsigned int  n, const Vec3f &  query  )

inlinestatic

Definition at line 585 of file BVH_utility.cpp.

maximumDistance_pointcloud()

static FCL_REAL hpp::fcl::maximumDistance_pointcloud ( Vec3f *  ps, Vec3f *  ps2, unsigned int *  indices, unsigned int  n, const Vec3f &  query  )

inlinestatic

Definition at line 619 of file BVH_utility.cpp.

merge_largedist()

OBB hpp::fcl::merge_largedist ( const OBB &  b1, const OBB &  b2  )

inline

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

Definition at line 64 of file OBB.cpp.

merge_smalldist()

OBB hpp::fcl::merge_smalldist ( const OBB &  b1, const OBB &  b2  )

inline

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

Definition at line 116 of file OBB.cpp.

minmax() [1/2]

void hpp::fcl::minmax ( FCL_REAL  a, FCL_REAL  b, FCL_REAL &  minv, FCL_REAL &  maxv  )

inline

Find the smaller and larger one of two values.

Definition at line 48 of file kDOP.cpp.

minmax() [2/2]

void hpp::fcl::minmax ( FCL_REAL  p, FCL_REAL &  minv, FCL_REAL &  maxv  )

inline

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

Definition at line 58 of file kDOP.cpp.

obbDisjointAndLowerBoundDistance()

bool hpp::fcl::obbDisjointAndLowerBoundDistance	(	const Matrix3f &	B,
		const Vec3f &	T,
		const Vec3f &	a_,
		const Vec3f &	b_,
		const CollisionRequest &	request,
		FCL_REAL &	squaredLowerBoundDistance
	)

Definition at line 345 of file OBB.cpp.

operator&()

CollisionRequestFlag hpp::fcl::operator& ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

Definition at line 569 of file collision_data.h.

operator&=()

CollisionRequestFlag& hpp::fcl::operator&= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

Definition at line 586 of file collision_data.h.

operator<<() [1/4]

static std::ostream& hpp::fcl::operator<< ( std::ostream &  o, const Quaternion3f &  q  )

inlinestatic

Definition at line 48 of file transform.h.

operator<<() [2/4]

std::ostream& hpp::fcl::operator<<	(	std::ostream &	os,
		const Box &	b
	)

Definition at line 73 of file test/geometric_shapes.cpp.

operator<<() [3/4]

std::ostream& hpp::fcl::operator<<	(	std::ostream &	os,
		const ShapeBase &
	)

Definition at line 69 of file test/geometric_shapes.cpp.

operator<<() [4/4]

std::ostream & hpp::fcl::operator<<	(	std::ostream &	os,
		const Transform3f &	tf
	)

Definition at line 377 of file utility.cpp.

operator^()

CollisionRequestFlag hpp::fcl::operator^ ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

Definition at line 575 of file collision_data.h.

operator^=()

CollisionRequestFlag& hpp::fcl::operator^= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

Definition at line 591 of file collision_data.h.

operator|()

CollisionRequestFlag hpp::fcl::operator| ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

Definition at line 563 of file collision_data.h.

operator|=()

CollisionRequestFlag& hpp::fcl::operator|= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

Definition at line 581 of file collision_data.h.

operator~()

CollisionRequestFlag hpp::fcl::operator~ ( CollisionRequestFlag  a )

inline

Definition at line 559 of file collision_data.h.

propagateBVHFrontListCollisionRecurse()

void hpp::fcl::propagateBVHFrontListCollisionRecurse	(	CollisionTraversalNodeBase *	node,
		const CollisionRequest &	,
		CollisionResult &	result,
		BVHFrontList *	front_list
	)

Definition at line 308 of file traversal_recurse.cpp.

rand_interval()

FCL_REAL hpp::fcl::rand_interval	(	FCL_REAL	rmin,
		FCL_REAL	rmax
	)

Definition at line 91 of file utility.cpp.

rectDistance()

FCL_REAL hpp::fcl::rectDistance	(	const Matrix3f &	Rab,
		Vec3f const &	Tab,
		const FCL_REAL	a[2],
		const FCL_REAL	b[2],
		Vec3f *	P = NULL,
		Vec3f *	Q = NULL
	)

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 121 of file RSS.cpp.

relativeTransform() [1/2]

template<typename Derived , typename OtherDerived >

void hpp::fcl::relativeTransform	(	const Eigen::MatrixBase< Derived > &	R1,
		const Eigen::MatrixBase< OtherDerived > &	t1,
		const Eigen::MatrixBase< Derived > &	R2,
		const Eigen::MatrixBase< OtherDerived > &	t2,
		const Eigen::MatrixBase< Derived > &	R,
		const Eigen::MatrixBase< OtherDerived > &	t
	)

Definition at line 91 of file tools.h.

relativeTransform() [2/2]

void hpp::fcl::relativeTransform	(	const Transform3f &	tf1,
		const Transform3f &	tf2,
		Transform3f &	tf
	)

Definition at line 43 of file transform.cpp.

relativeTransform2()

void hpp::fcl::relativeTransform2	(	const Transform3f &	tf1,
		const Transform3f &	tf2,
		Transform3f &	tf
	)

Definition at line 48 of file transform.cpp.

reorderTriangle()

void hpp::fcl::reorderTriangle	(	const Convex< Triangle > *	convex_tri,
		Triangle &	tri
	)

Definition at line 26 of file src/shape/convex.cpp.

saveOBJFile()

void hpp::fcl::saveOBJFile	(	const char *	filename,
		std::vector< Vec3f > &	points,
		std::vector< Triangle > &	triangles
	)

Definition at line 162 of file utility.cpp.

segCoords()

void hpp::fcl::segCoords	(	FCL_REAL &	t,
		FCL_REAL &	u,
		FCL_REAL	a,
		FCL_REAL	b,
		FCL_REAL	A_dot_B,
		FCL_REAL	A_dot_T,
		FCL_REAL	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 67 of file RSS.cpp.

SHAPE_DISTANCE_SPECIALIZATION() [1/3]

hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION	(	Sphere	,
		Box
	)

SHAPE_DISTANCE_SPECIALIZATION() [2/3]

hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION	(	Sphere	,
		Capsule
	)

SHAPE_DISTANCE_SPECIALIZATION() [3/3]

hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION	(	Sphere	,
		Cylinder
	)

SHAPE_DISTANCE_SPECIALIZATION_BASE() [1/3]

hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION_BASE	(	Capsule	,
		Capsule
	)

SHAPE_DISTANCE_SPECIALIZATION_BASE() [2/3]

hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION_BASE	(	Sphere	,
		Sphere
	)

SHAPE_DISTANCE_SPECIALIZATION_BASE() [3/3]

hpp::fcl::SHAPE_DISTANCE_SPECIALIZATION_BASE	(	TriangleP	,
		TriangleP
	)

SHAPE_INTERSECT_SPECIALIZATION() [1/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Halfspace	,
		Box
	)

SHAPE_INTERSECT_SPECIALIZATION() [2/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Halfspace	,
		Capsule
	)

SHAPE_INTERSECT_SPECIALIZATION() [3/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Halfspace	,
		Cone
	)

SHAPE_INTERSECT_SPECIALIZATION() [4/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Halfspace	,
		Cylinder
	)

SHAPE_INTERSECT_SPECIALIZATION() [5/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Halfspace	,
		Plane
	)

SHAPE_INTERSECT_SPECIALIZATION() [6/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Plane	,
		Box
	)

SHAPE_INTERSECT_SPECIALIZATION() [7/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Plane	,
		Capsule
	)

SHAPE_INTERSECT_SPECIALIZATION() [8/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Plane	,
		Cone
	)

SHAPE_INTERSECT_SPECIALIZATION() [9/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Plane	,
		Cylinder
	)

SHAPE_INTERSECT_SPECIALIZATION() [10/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Sphere	,
		Box
	)

SHAPE_INTERSECT_SPECIALIZATION() [11/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Sphere	,
		Capsule
	)

SHAPE_INTERSECT_SPECIALIZATION() [12/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Sphere	,
		Halfspace
	)

SHAPE_INTERSECT_SPECIALIZATION() [13/13]

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION	(	Sphere	,
		Plane
	)

SHAPE_INTERSECT_SPECIALIZATION_BASE()

hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION_BASE	(	Sphere	,
		Sphere
	)

ShapeShapeDistance()

template<typename T_SH1 , typename T_SH2 >

FCL_REAL hpp::fcl::ShapeShapeDistance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 70 of file distance_func_matrix.cpp.

ShapeShapeDistance< Box, Halfspace >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Box, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file box_halfspace.cpp.

ShapeShapeDistance< Box, Plane >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Box, Plane >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file box_plane.cpp.

ShapeShapeDistance< Box, Sphere >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Box, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file box_sphere.cpp.

ShapeShapeDistance< Capsule, Capsule >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Capsule, Capsule >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Definition at line 80 of file src/distance/capsule_capsule.cpp.

ShapeShapeDistance< Capsule, Halfspace >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Capsule, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file capsule_halfspace.cpp.

ShapeShapeDistance< Capsule, Plane >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Capsule, Plane >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file capsule_plane.cpp.

ShapeShapeDistance< Cone, Halfspace >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Cone, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file cone_halfspace.cpp.

ShapeShapeDistance< Cone, Plane >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Cone, Plane >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file cone_plane.cpp.

ShapeShapeDistance< ConvexBase, Halfspace >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< ConvexBase, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 46 of file convex_halfspace.cpp.

ShapeShapeDistance< Cylinder, Halfspace >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Cylinder, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file cylinder_halfspace.cpp.

ShapeShapeDistance< Cylinder, Plane >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Cylinder, Plane >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file cylinder_plane.cpp.

ShapeShapeDistance< Cylinder, Sphere >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Cylinder, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file sphere_cylinder.cpp.

ShapeShapeDistance< Halfspace, Box >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Halfspace, Box >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file box_halfspace.cpp.

ShapeShapeDistance< Halfspace, Capsule >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Halfspace, Capsule >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file capsule_halfspace.cpp.

ShapeShapeDistance< Halfspace, Cone >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Halfspace, Cone >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file cone_halfspace.cpp.

ShapeShapeDistance< Halfspace, ConvexBase >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Halfspace, ConvexBase >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 64 of file convex_halfspace.cpp.

ShapeShapeDistance< Halfspace, Cylinder >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Halfspace, Cylinder >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file cylinder_halfspace.cpp.

ShapeShapeDistance< Halfspace, Sphere >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Halfspace, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file sphere_halfspace.cpp.

ShapeShapeDistance< Halfspace, TriangleP >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Halfspace, TriangleP >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 64 of file triangle_halfspace.cpp.

ShapeShapeDistance< Plane, Box >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Plane, Box >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file box_plane.cpp.

ShapeShapeDistance< Plane, Capsule >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Plane, Capsule >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file capsule_plane.cpp.

ShapeShapeDistance< Plane, Cone >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Plane, Cone >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file cone_plane.cpp.

ShapeShapeDistance< Plane, Cylinder >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Plane, Cylinder >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file cylinder_plane.cpp.

ShapeShapeDistance< Plane, Sphere >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Plane, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file sphere_plane.cpp.

ShapeShapeDistance< Sphere, Box >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Sphere, Box >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 69 of file box_sphere.cpp.

ShapeShapeDistance< Sphere, Cylinder >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Sphere, Cylinder >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file sphere_cylinder.cpp.

ShapeShapeDistance< Sphere, Halfspace >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Sphere, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file sphere_halfspace.cpp.

ShapeShapeDistance< Sphere, Plane >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Sphere, Plane >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 52 of file sphere_plane.cpp.

ShapeShapeDistance< Sphere, Sphere >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< Sphere, Sphere >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 56 of file sphere_sphere.cpp.

ShapeShapeDistance< TriangleP, Halfspace >()

template<>

FCL_REAL hpp::fcl::ShapeShapeDistance< TriangleP, Halfspace >	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const GJKSolver *	,
		const DistanceRequest &	,
		DistanceResult &	result
	)

Definition at line 46 of file triangle_halfspace.cpp.

toEllipsoid()

void hpp::fcl::toEllipsoid	(	Vec3f &	point,
		const Ellipsoid &	ellipsoid
	)

Takes a point, projects it on the unit sphere and applies an ellipsoid transformation to it. A point x belongs to the surface of an ellipsoid if x^T * A * x = 1, where A = diag(1/r**2) with r being the radii of the ellipsoid. Thus, the point y = A^(1/2) * x belongs to the unit sphere if y * y = 1. Therefore, the tranformation which brings y to x is A^(-1/2) = diag(r).

Definition at line 470 of file utility.cpp.

toSphere()

void hpp::fcl::toSphere

(

Vec3f &

point

)

Takes a point and projects it onto the surface of the unit sphere.

Definition at line 459 of file utility.cpp.

transform() [1/2]

Halfspace hpp::fcl::transform	(	const Halfspace &	a,
		const Transform3f &	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

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 248 of file geometric_shapes_utility.cpp.

transform() [2/2]

Plane hpp::fcl::transform	(	const Plane &	a,
		const Transform3f &	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

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 261 of file geometric_shapes_utility.cpp.

translate() [1/2]

OBBRSS hpp::fcl::translate	(	const OBBRSS &	bv,
		const Vec3f &	t
	)

Definition at line 43 of file OBBRSS.cpp.

translate() [2/2]

RSS hpp::fcl::translate	(	const RSS &	bv,
		const Vec3f &	t
	)

Definition at line 1007 of file RSS.cpp.

translate< 16 >()

template KDOP<16> hpp::fcl::translate< 16 >	(	const KDOP< 16 > &	,
		const Vec3f &
	)

translate< 18 >()

template KDOP<18> hpp::fcl::translate< 18 >	(	const KDOP< 18 > &	,
		const Vec3f &
	)

translate< 24 >()

template KDOP<24> hpp::fcl::translate< 24 >	(	const KDOP< 24 > &	,
		const Vec3f &
	)

triple()

template<typename Derived >

static Derived::Scalar hpp::fcl::triple ( const Eigen::MatrixBase< Derived > &  x, const Eigen::MatrixBase< Derived > &  y, const Eigen::MatrixBase< Derived > &  z  )

inlinestatic

Definition at line 53 of file tools.h.

updateFrontList()

void hpp::fcl::updateFrontList ( BVHFrontList *  front_list, unsigned int  b1, unsigned int  b2  )

inline

Add new front node into the front list.

Definition at line 70 of file BVH_front.h.

Variable Documentation

cosA

const double hpp::fcl::cosA = sqrt(3.0) / 2.0

static

Definition at line 48 of file BV_fitter.cpp.

invSinA

const double hpp::fcl::invSinA = 2

static

Definition at line 47 of file BV_fitter.cpp.

kIOS_RATIO

const double hpp::fcl::kIOS_RATIO = 1.5

static

Definition at line 46 of file BV_fitter.cpp.

pyfmt

const Eigen::IOFormat hpp::fcl::pyfmt

Initial value:

= Eigen::IOFormat(
    Eigen::StreamPrecision, Eigen::DontAlignCols, ", ", ", ", "", "", "[", "]")

Definition at line 84 of file utility.cpp.

UnitX

const Vec3f hpp::fcl::UnitX = Vec3f(1, 0, 0)

Definition at line 87 of file utility.cpp.

UnitY

const Vec3f hpp::fcl::UnitY = Vec3f(0, 1, 0)

Definition at line 88 of file utility.cpp.

UnitZ

const Vec3f hpp::fcl::UnitZ = Vec3f(0, 0, 1)

Definition at line 89 of file utility.cpp.

vfmt

const Eigen::IOFormat hpp::fcl::vfmt

Initial value:

= Eigen::IOFormat(
    Eigen::StreamPrecision, Eigen::DontAlignCols, ", ", ", ", "", "", "", "")

Definition at line 82 of file utility.cpp.