C++ API

hpp-fcl

Introduction

hpp-fcl is a modified version the FCL libraries.

It is a library for collision detection and distance computation between various types of geometric shapes reprensented either by

• basic shapes (hpp::fcl::ShapeBase) like box, sphere, cylinders, …

• or by bounding volume hierarchies of various types (hpp::fcl::BVHModel)

Using hpp-fcl

The main entry points to the library are functions

• hpp::fcl::collide(const CollisionObject*, const CollisionObject*, const

  CollisionRequest&, CollisionResult&)

• hpp::fcl::distance(const

  CollisionObject*, const CollisionObject*, const DistanceRequest&,

  DistanceResult&)

Collision

detection and distance lower bound

Collision queries can return a distance lower bound between the two objects, which is computationally cheaper than computing the real distance. The following figure shows the returned result in CollisionResult::distance_lower_bound and DistanceResult::min_distance, with respect to the objects real distance.

The two parameters refer to CollisionRequest::security_margin and CollisionRequest::break_distance.

Note

In the green hatched area, the distance lower bound is not known. It is only guaranted that it will be inferior to distance - security_margin and superior to break_distance.

Note

If CollisionRequest::security_margin is set to -inf, no collision test is performed by function hpp::fcl::collide or class hpp::fcl::ComputeCollision and the objects are considered as not colliding.

Page Hierarchy

• • Todo List

Full C++ API

Namespaces

• Namespace Assimp

• Namespace boost

• Namespace boost::serialization

• Namespace boost::serialization::internal

• Namespace hpp

• Namespace hpp::fcl

• Namespace hpp::fcl::detail

• Namespace hpp::fcl::detail::dynamic_AABB_tree

• Namespace hpp::fcl::detail::dynamic_AABB_tree_array

• Namespace hpp::fcl::detail::implementation_array

• Namespace hpp::fcl::details

• Namespace hpp::fcl::internal

• Namespace std

Classes and Structs

• Template Struct BVHModelAccessor

• Struct BVHModelBaseAccessor

• Template Struct BVSplitterAccessor

• Template Struct ConvexAccessor

• Struct ConvexBaseAccessor

• Template Struct HeightFieldAccessor

• Struct BVHFrontNode

• Template Struct BVNode

• Struct BVNodeBase

• Struct CachedMeshLoader::Key

• Struct CachedMeshLoader::Value

• Struct CollisionCallBackBase

• Struct CollisionCallBackCollect

• Struct CollisionCallBackDefault

• Struct CollisionData

• Struct CollisionFunctionMatrix

• Struct CollisionRequest

• Struct CollisionResult

• Struct Contact

• Struct ConvexBase::Neighbors

• Struct CPUTimes

• Struct HierarchyTree::SortByMorton

• Struct HierarchyTree::SortByMorton

• Template Struct NodeBase

• Template Struct nodeBaseLess

• Template Struct SelectImpl

• Template Struct SelectImpl< S, AABB >

• Struct it_recursion_node

• Template Struct NodeBase

• Template Struct SelectImpl

• Template Struct SelectImpl< S, AABB >

• Struct SimpleInterval

• Struct SpatialHash

• Template Struct UpdateImpl

• Struct EPA

• Struct EPA::SimplexF

• Struct EPA::SimplexHorizon

• Struct EPA::SimplexList

• Struct GJK

• Struct GJK::Simplex

• Struct GJK::SimplexV

• Struct MinkowskiDiff

• Struct MinkowskiDiff::ShapeData

• Template Struct UpdateBoundingVolume

• Template Struct UpdateBoundingVolume< AABB >

• Struct DistanceCallBackBase

• Struct DistanceCallBackDefault

• Struct DistanceData

• Struct DistanceFunctionMatrix

• Struct DistanceRequest

• Struct DistanceResult

• Struct GJKSolver

• Template Struct HFNode

• Struct HFNodeBase

• Struct Loader

• Template Struct memory_footprint_evaluator

• Template Struct memory_footprint_evaluator< ::hpp::fcl::BVHModel< BV > >

• Struct TriangleAndVertices

• Struct IntervalTreeCollisionManager::EndPoint

• Struct IntervalTreeCollisionManager::SAPInterval

• Struct kIOS::kIOS_Sphere

• Struct OBB

• Struct OBBRSS

• Struct Quadrilateral

• Struct QueryRequest

• Struct QueryResult

• Struct RSS

• Struct SaPCollisionManager::EndPoint

• Struct SaPCollisionManager::SaPAABB

• Struct SaPCollisionManager::SaPPair

• Template Struct shape_traits

• Template Struct shape_traits< Box >

• Template Struct shape_traits< Capsule >

• Template Struct shape_traits< Cone >

• Template Struct shape_traits< ConvexBase >

• Template Struct shape_traits< Cylinder >

• Template Struct shape_traits< Ellipsoid >

• Template Struct shape_traits< Halfspace >

• Template Struct shape_traits< Sphere >

• Template Struct shape_traits< TriangleP >

• Struct shape_traits_base

• Struct Timer

• Class AABB

• Class Box

• Class BroadPhaseCollisionManager

• Template Class BroadPhaseContinuousCollisionManager

• Template Class BVFitter

• Template Class BVFitter< AABB >

• Template Class BVFitter< kIOS >

• Template Class BVFitter< OBB >

• Template Class BVFitter< OBBRSS >

• Template Class BVFitter< RSS >

• Template Class BVFitterTpl

• Template Class BVHModel

• Class BVHModelBase

• Template Class BVSplitter

• Class CachedMeshLoader

• Class Capsule

• Class CollisionGeometry

• Class CollisionObject

• Class ComputeCollision

• Class ComputeDistance

• Class Cone

• Template Class Convex

• Class ConvexBase

• Class Cylinder

• Template Class HierarchyTree

• Template Class HierarchyTree

• Class IntervalTree

• Class IntervalTreeNode

• Template Class SimpleHashTable

• Template Class SparseHashTable

• Template Class unordered_map_hash_table

• Class DynamicAABBTreeArrayCollisionManager

• Class DynamicAABBTreeCollisionManager

• Class Ellipsoid

• Class Halfspace

• Template Class HeightField

• Class IntervalTreeCollisionManager

• Template Class KDOP

• Class kIOS

• Class MeshLoader

• Class NaiveCollisionManager

• Class OcTree

• Class Plane

• Class SaPCollisionManager

• Class SaPCollisionManager::isNotValidPair

• Class SaPCollisionManager::isUnregistered

• Class ShapeBase

• Template Class SpatialHashingCollisionManager

• Class Sphere

• Class SSaPCollisionManager

• Class Transform3f

• Class Triangle

• Class TriangleP

Enums

• Enum BVHBuildState

• Enum BVHModelType

• Enum BVHReturnCode

• Enum CollisionRequestFlag

• Enum GJKConvergenceCriterion

• Enum GJKConvergenceCriterionType

• Enum GJKInitialGuess

• Enum GJKVariant

• Enum NODE_TYPE

• Enum OBJECT_TYPE

• Enum SplitMethodType

Functions

• Template Function boost::serialization::load(Archive&, hpp::fcl::BVSplitter<BV>&, const unsigned int)

• Template Function boost::serialization::load(Archive&, hpp::fcl::BVHModelBase&, const unsigned int)

• Template Function boost::serialization::load(Archive&, hpp::fcl::BVHModel<BV>&, const unsigned int)

• Template Function boost::serialization::load(Archive&, hpp::fcl::Contact&, const unsigned int)

• Template Function boost::serialization::load(Archive&, hpp::fcl::CollisionResult&, const unsigned int)

• Template Function boost::serialization::load(Archive&, hpp::fcl::DistanceResult&, const unsigned int)

• Template Function boost::serialization::load(Archive&, hpp::fcl::CollisionGeometry&, const unsigned int)

• Template Function boost::serialization::load(Archive&, Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>&, const unsigned int)

• Template Function boost::serialization::load(Archive&, Eigen::Map<PlainObjectBase, MapOptions, StrideType>&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const hpp::fcl::BVSplitter<BV>&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const hpp::fcl::BVHModelBase&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const hpp::fcl::BVHModel<BV>&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const hpp::fcl::Contact&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const hpp::fcl::CollisionResult&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const hpp::fcl::DistanceResult&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const hpp::fcl::CollisionGeometry&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>&, const unsigned int)

• Template Function boost::serialization::save(Archive&, const Eigen::Map<PlainObjectBase, MapOptions, StrideType>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::AABB&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::BVNodeBase&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::BVNode<BV>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::BVHModel<BV>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::QueryRequest&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::QueryResult&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::CollisionRequest&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::DistanceRequest&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::ConvexBase&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Convex<PolygonT>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, Eigen::Map<PlainObjectBase, MapOptions, StrideType>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::ShapeBase&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::TriangleP&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Box&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Sphere&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Ellipsoid&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Capsule&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Cone&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Cylinder&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Halfspace&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Plane&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::HFNodeBase&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::HFNode<BV>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::HeightField<BV>&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::OBB&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::OBBRSS&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Quadrilateral&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::RSS&, const unsigned int)

• Template Function boost::serialization::serialize(Archive&, hpp::fcl::Triangle&, const unsigned int)

• Template Function hpp::fcl::BVHExtract(const BVHModel<BV>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<OBB>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<AABB>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<RSS>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<kIOS>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<OBBRSS>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<KDOP<16>>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<KDOP<18>>&, const Transform3f&, const AABB&)

• Specialized Template Function hpp::fcl::BVHExtract(const BVHModel<KDOP<24>>&, const Transform3f&, const AABB&)

• Function hpp::fcl::circumCircleComputation

• Function hpp::fcl::collide(const CollisionObject *, const CollisionObject *, const CollisionRequest&, CollisionResult&)

• Function hpp::fcl::collide(const CollisionGeometry *, const Transform3f&, const CollisionGeometry *, const Transform3f&, const CollisionRequest&, CollisionResult&)

• Function hpp::fcl::collide(const CollisionObject *, const CollisionObject *, CollisionRequest&, CollisionResult&)

• Function hpp::fcl::collide(const CollisionGeometry *, const Transform3f&, const CollisionGeometry *, const Transform3f&, CollisionRequest&, CollisionResult&)

• Template Function hpp::fcl::computeBV

• Specialized Template Function hpp::fcl::computeBV< AABB, Box >

• Specialized Template Function hpp::fcl::computeBV< AABB, Capsule >

• Specialized Template Function hpp::fcl::computeBV< AABB, Cone >

• Specialized Template Function hpp::fcl::computeBV< AABB, ConvexBase >

• Specialized Template Function hpp::fcl::computeBV< AABB, Cylinder >

• Specialized Template Function hpp::fcl::computeBV< AABB, Ellipsoid >

• Specialized Template Function hpp::fcl::computeBV< AABB, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< AABB, Plane >

• Specialized Template Function hpp::fcl::computeBV< AABB, Sphere >

• Specialized Template Function hpp::fcl::computeBV< AABB, TriangleP >

• Specialized Template Function hpp::fcl::computeBV< KDOP< 16 >, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< KDOP< 16 >, Plane >

• Specialized Template Function hpp::fcl::computeBV< KDOP< 18 >, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< KDOP< 18 >, Plane >

• Specialized Template Function hpp::fcl::computeBV< KDOP< 24 >, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< KDOP< 24 >, Plane >

• Specialized Template Function hpp::fcl::computeBV< kIOS, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< kIOS, Plane >

• Specialized Template Function hpp::fcl::computeBV< OBB, Box >

• Specialized Template Function hpp::fcl::computeBV< OBB, Capsule >

• Specialized Template Function hpp::fcl::computeBV< OBB, Cone >

• Specialized Template Function hpp::fcl::computeBV< OBB, ConvexBase >

• Specialized Template Function hpp::fcl::computeBV< OBB, Cylinder >

• Specialized Template Function hpp::fcl::computeBV< OBB, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< OBB, Plane >

• Specialized Template Function hpp::fcl::computeBV< OBB, Sphere >

• Specialized Template Function hpp::fcl::computeBV< OBBRSS, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< OBBRSS, Plane >

• Specialized Template Function hpp::fcl::computeBV< RSS, Halfspace >

• Specialized Template Function hpp::fcl::computeBV< RSS, Plane >

• Function hpp::fcl::computeChildBV

• Template Function hpp::fcl::computeMemoryFootprint

• Function hpp::fcl::constructBox(const AABB&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const OBB&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const OBBRSS&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const kIOS&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const RSS&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const KDOP<16>&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const KDOP<18>&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const KDOP<24>&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const AABB&, const Transform3f&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const OBB&, const Transform3f&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const OBBRSS&, const Transform3f&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const kIOS&, const Transform3f&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const RSS&, const Transform3f&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const KDOP<16>&, const Transform3f&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const KDOP<18>&, const Transform3f&, Box&, Transform3f&)

• Function hpp::fcl::constructBox(const KDOP<24>&, const Transform3f&, Box&, Transform3f&)

• Template Function hpp::fcl::convertBV(const BV1&, const Transform3f&, BV2&)

• Template Function hpp::fcl::convertBV(const BV1&, BV2&)

• Function hpp::fcl::defaultCollisionFunction

• Function hpp::fcl::defaultDistanceFunction

• Template Function hpp::fcl::detail::implementation_array::select(size_t, size_t, size_t, NodeBase<BV> *)

• Template Function hpp::fcl::detail::implementation_array::select(const BV&, size_t, size_t, NodeBase<BV> *)

• Template Function hpp::fcl::detail::nodeBaseLess

• Template Function hpp::fcl::detail::select(const NodeBase<BV>&, const NodeBase<BV>&, const NodeBase<BV>&)

• Template Function hpp::fcl::detail::select(const BV&, const NodeBase<BV>&, const NodeBase<BV>&)

• Function hpp::fcl::details::getSupport

• Function hpp::fcl::distance()

• Function hpp::fcl::distance()

• Function hpp::fcl::distance()

• Function hpp::fcl::distance(const CollisionObject *, const CollisionObject *, const DistanceRequest&, DistanceResult&)

• Function hpp::fcl::distance(const CollisionGeometry *, const Transform3f&, const CollisionGeometry *, const Transform3f&, const DistanceRequest&, DistanceResult&)

• Function hpp::fcl::distance(const CollisionObject *, const CollisionObject *, DistanceRequest&, DistanceResult&)

• Function hpp::fcl::distance(const CollisionGeometry *, const Transform3f&, const CollisionGeometry *, const Transform3f&, DistanceRequest&, DistanceResult&)

• Template Function hpp::fcl::eigen

• Function hpp::fcl::extract

• Template Function hpp::fcl::fit

• Specialized Template Function hpp::fcl::fit< AABB >

• Specialized Template Function hpp::fcl::fit< kIOS >

• Specialized Template Function hpp::fcl::fit< OBB >

• Specialized Template Function hpp::fcl::fit< OBBRSS >

• Specialized Template Function hpp::fcl::fit< RSS >

• Template Function hpp::fcl::fromAxisAngle

• Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Box&, const Transform3f&)

• Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Sphere&, const Transform3f&, unsigned int, unsigned int)

• Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Sphere&, const Transform3f&, unsigned int)

• Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Cylinder&, const Transform3f&, unsigned int, unsigned int)

• Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Cylinder&, const Transform3f&, unsigned int)

• Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Cone&, const Transform3f&, unsigned int, unsigned int)

• Template Function hpp::fcl::generateBVHModel(BVHModel<BV>&, const Cone&, const Transform3f&, unsigned int)

• Template Function hpp::fcl::generateCoordinateSystem

• Function hpp::fcl::get_node_type_name

• Function hpp::fcl::get_object_type_name

• Function hpp::fcl::getCovariance

• Function hpp::fcl::getExtentAndCenter

• Function hpp::fcl::getRadiusAndOriginAndRectangleSize

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE()

• Function hpp::fcl::HPP_FCL_DECLARE_SHAPE_TRIANGLE()

• Function hpp::fcl::internal::buildMesh

• Template Function hpp::fcl::internal::meshFromAssimpScene

• Function hpp::fcl::internal::updateDistanceLowerBoundFromBV

• Function hpp::fcl::internal::updateDistanceLowerBoundFromLeaf

• Template Function hpp::fcl::isEqual

• Template Function hpp::fcl::loadPolyhedronFromResource

• Function hpp::fcl::makeOctree

• Function hpp::fcl::maximumDistance

• Function hpp::fcl::obbDisjoint

• Function hpp::fcl::operator&

• Function hpp::fcl::operator&=

• Function hpp::fcl::operator<<

• Function hpp::fcl::operator^

• Function hpp::fcl::operator^=

• Function hpp::fcl::operator|

• Function hpp::fcl::operator|=

• Function hpp::fcl::operator~

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Function hpp::fcl::overlap()

• Template Function hpp::fcl::relativeTransform

• Function hpp::fcl::rotate

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

• Function hpp::fcl::SHAPE_INTERSECT_SPECIALIZATION_BASE

• Function hpp::fcl::transform(const Halfspace&, const Transform3f&)

• Function hpp::fcl::transform(const Plane&, const Transform3f&)

• Function hpp::fcl::translate()

• Function hpp::fcl::translate()

• Function hpp::fcl::translate()

• Function hpp::fcl::translate()

• Template Function hpp::fcl::triple

• Function hpp::fcl::updateFrontList

Variables

• Variable hpp::fcl::detail::IntervalTree

• Variable hpp::fcl::details::EPA_EPS

• Variable hpp::fcl::details::EPA_MAX_FACES

• Variable hpp::fcl::details::EPA_MAX_ITERATIONS

• Variable hpp::fcl::details::EPA_MAX_VERTICES

Defines

• Define HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS

• Define HPP_FCL_COMPILER_DIAGNOSTIC_POP

• Define HPP_FCL_COMPILER_DIAGNOSTIC_PUSH

• Define HPP_FCL_DECLARE_SHAPE_DISTANCE

• Define HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR

• Define HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF

• Define HPP_FCL_DECLARE_SHAPE_INTERSECT

• Define HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR

• Define HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF

• Define HPP_FCL_DECLARE_SHAPE_TRIANGLE

• Define HPP_FCL_PRETTY_FUNCTION

• Define HPP_FCL_SERIALIZATION_SPLIT

• Define HPP_FCL_THROW_PRETTY

• Define HPP_FCL_UNUSED_VARIABLE

• Define SHAPE_DISTANCE_SPECIALIZATION

• Define SHAPE_DISTANCE_SPECIALIZATION_BASE

• Define SHAPE_INTERSECT_SPECIALIZATION

• Define SHAPE_INTERSECT_SPECIALIZATION_BASE

Typedefs

• Typedef hpp::fcl::BroadPhaseContinuousCollisionManagerd

• Typedef hpp::fcl::BroadPhaseContinuousCollisionManagerf

• Typedef hpp::fcl::BVHFrontList

• Typedef hpp::fcl::BVHModelPtr_t

• Typedef hpp::fcl::CollisionGeometryConstPtr_t

• Typedef hpp::fcl::CollisionGeometryPtr_t

• Typedef hpp::fcl::CollisionObjectConstPtr_t

• Typedef hpp::fcl::CollisionObjectPtr_t

• Typedef hpp::fcl::ContinuousCollisionCallBack

• Typedef hpp::fcl::ContinuousDistanceCallBack

• Typedef hpp::fcl::FCL_REAL

• Typedef hpp::fcl::Matrix3f

• Typedef hpp::fcl::Matrixx3f

• Typedef hpp::fcl::Matrixx3i

• Typedef hpp::fcl::MatrixXf

• Typedef hpp::fcl::OcTreeConstPtr_t

• Typedef hpp::fcl::OcTreePtr_t

• Typedef hpp::fcl::Quaternion3f

• Typedef hpp::fcl::support_func_guess_t

• Typedef hpp::fcl::Vec3f

• Typedef hpp::fcl::VecXf

Directories

• Directory include

• Directory hpp

• Directory fcl

• Directory broadphase

• Directory detail

• Directory BV

• Directory BVH

• Directory internal

• Directory math

• Directory mesh_loader

• Directory narrowphase

• Directory serialization

• Directory shape

• Directory details

Files

• File AABB.h

• File AABB.h

• File assimp.h

• File broadphase.h

• File broadphase_bruteforce.h

• File broadphase_callbacks.h

• File broadphase_collision_manager.h

• File broadphase_continuous_collision_manager-inl.h

• File broadphase_continuous_collision_manager.h

• File broadphase_dynamic_AABB_tree-inl.h

• File broadphase_dynamic_AABB_tree.h

• File broadphase_dynamic_AABB_tree_array-inl.h

• File broadphase_dynamic_AABB_tree_array.h

• File broadphase_interval_tree.h

• File broadphase_SaP.h

• File broadphase_spatialhash-inl.h

• File broadphase_spatialhash.h

• File broadphase_SSaP.h

• File BV.h

• File BV_fitter.h

• File BV_node.h

• File BV_node.h

• File BV_splitter.h

• File BV_splitter.h

• File BVH_front.h

• File BVH_internal.h

• File BVH_model.h

• File BVH_model.h

• File BVH_utility.h

• File collision.h

• File collision_data.h

• File collision_data.h

• File collision_func_matrix.h

• File collision_object.h

• File collision_object.h

• File collision_utility.h

• File convex.h

• File convex.h

• File convex.hxx

• File data_types.h

• File default_broadphase_callbacks.h

• File distance.h

• File distance_func_matrix.h

• File doc.hh

• File eigen.h

• File fwd.h

• File fwd.hh

• File geometric_shape_to_BVH_model.h

• File geometric_shapes.h

• File geometric_shapes.h

• File geometric_shapes_traits.h

• File geometric_shapes_utility.h

• File gjk.h

• File hfield.h

• File hfield.h

• File hierarchy_tree-inl.h

• File hierarchy_tree.h

• File hierarchy_tree_array-inl.h

• File hierarchy_tree_array.h

• File intersect.h

• File interval_tree.h

• File interval_tree_node-inl.h

• File interval_tree_node.h

• File kDOP.h

• File kIOS.h

• File loader.h

• File matrix_3f.h

• File memory.h

• File morton-inl.h

• File morton.h

• File narrowphase.h

• File node_base-inl.h

• File node_base.h

• File node_base_array-inl.h

• File node_base_array.h

• File OBB.h

• File OBB.h

• File OBBRSS.h

• File OBBRSS.h

• File octree.h

• File quadrilateral.h

• File RSS.h

• File RSS.h

• File shape_shape_func.h

• File simple_hash_table-inl.h

• File simple_hash_table.h

• File simple_interval-inl.h

• File simple_interval.h

• File sparse_hash_table-inl.h

• File sparse_hash_table.h

• File spatial_hash-inl.h

• File spatial_hash.h

• File timings.h

• File tools.h

• File transform.h

• File traversal.h

• File traversal_node_base.h

• File traversal_node_bvh_hfield.h

• File traversal_node_bvh_shape.h

• File traversal_node_bvhs.h

• File traversal_node_hfield_shape.h

• File traversal_node_octree.h

• File traversal_node_setup.h

• File traversal_node_shapes.h

• File traversal_recurse.h

• File triangle.h

• File types.h

• File vec_3f.h

Pages

• Todo List