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| 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. More...
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| 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. More...
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| 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). More...
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| void | hpp::fcl::eulerToMatrix (FCL_REAL a, FCL_REAL b, FCL_REAL c, Matrix3f &R) |
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| void | hpp::fcl::generateEnvironments (std::vector< CollisionObject * > &env, FCL_REAL env_scale, std::size_t n) |
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| void | hpp::fcl::generateEnvironmentsMesh (std::vector< CollisionObject * > &env, FCL_REAL env_scale, std::size_t n) |
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| 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]. More...
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| 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. More...
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| 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. More...
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| std::size_t | hpp::fcl::getNbRun (const int &argc, char const *const *argv, std::size_t defaultValue) |
| | Get the argument –nb-run from argv. More...
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| std::string | hpp::fcl::getNodeTypeName (NODE_TYPE node_type) |
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| void | hpp::fcl::loadOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles) |
| | Load an obj mesh file. More...
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| Quaternion3f | hpp::fcl::makeQuat (FCL_REAL w, FCL_REAL x, FCL_REAL y, FCL_REAL z) |
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| std::ostream & | hpp::fcl::operator<< (std::ostream &os, const Transform3f &tf) |
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| FCL_REAL | hpp::fcl::rand_interval (FCL_REAL rmin, FCL_REAL rmax) |
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| void | hpp::fcl::saveOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles) |
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| void | hpp::fcl::toEllipsoid (Vec3f &point, const Ellipsoid &ellipsoid) |
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| void | hpp::fcl::toSphere (Vec3f &point) |
| | Takes a point and projects it onto the surface of the unit sphere. More...
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