Namespaces
	detail

	details

	internal

	IntervalTreeCollisionManager

	kIOS_fit_functions

	OBB_fit_functions

	OBBRSS_fit_functions

	python

	RSS_fit_functions

	SaPCollisionManager

Classes
class	AABB

class	BenchTimer

class	Box

class	BroadPhaseCollisionManager

struct	BroadPhaseCollisionManagerWrapper

class	BroadPhaseContinuousCollisionManager

class	BVFitter

class	BVFitter< AABB >

class	BVFitter< kIOS >

class	BVFitter< OBB >

class	BVFitter< OBBRSS >

class	BVFitter< RSS >

class	BVFitterTpl

struct	BVHFrontNode

class	BVHModel

class	BVHModelBase

struct	BVHShapeCollider

struct	BVHShapeDistancer

struct	BVHShapeDistancer< kIOS, T_SH >

struct	BVHShapeDistancer< OBBRSS, T_SH >

struct	BVHShapeDistancer< RSS, T_SH >

struct	BVNode

struct	BVNodeBase

class	BVSplitter

struct	BVT

struct	BVT_Comparer

struct	BVTQ

class	CachedMeshLoader

class	Capsule

struct	CollisionCallBackBase

struct	CollisionCallBackBaseWrapper

struct	CollisionCallBackCollect

struct	CollisionCallBackDefault

struct	CollisionData

struct	CollisionFunctionMatrix

class	CollisionGeometry

class	CollisionObject

struct	CollisionRequest

struct	CollisionResult

class	ComputeCollision

class	ComputeDistance

class	Cone

struct	Contact

class	Convex

class	ConvexBase

struct	CPUTimes

class	Cylinder

struct	DistanceCallBackBase

struct	DistanceCallBackBaseWrapper

struct	DistanceCallBackDefault

struct	DistanceData

struct	DistanceFunctionMatrix

struct	DistanceRequest

struct	DistanceRes

struct	DistanceResult

class	DummyCollisionObject

class	DynamicAABBTreeArrayCollisionManager

class	DynamicAABBTreeCollisionManager

class	Ellipsoid

struct	GJKSolver

class	Halfspace

class	HeightField

struct	HeightFieldShapeCollider

struct	HeightFieldShapeDistancer

struct	HFNode

struct	HFNodeBase

class	IntervalTreeCollisionManager

class	KDOP

class	kIOS

class	MeshLoader

class	NaiveCollisionManager

struct	OBB

struct	OBBRSS

class	OcTree

class	Plane

struct	Quadrilateral

struct	QueryRequest

struct	QueryResult

struct	RSS

class	SaPCollisionManager

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

struct	SortByXLow

struct	SortByYLow

struct	SortByZLow

class	SpatialHashingCollisionManager

class	Sphere

class	SSaPCollisionManager

struct	Timer

class	Transform3f

struct	TraversalTraitsCollision

struct	TraversalTraitsDistance

class	Triangle

class	TriangleP

struct	TStruct

Typedefs
typedef Eigen::AngleAxis< FCL_REAL >	AngleAxis

typedef BroadPhaseContinuousCollisionManager< FCL_REAL >	BroadPhaseContinuousCollisionManagerd

typedef BroadPhaseContinuousCollisionManager< float >	BroadPhaseContinuousCollisionManagerf

typedef std::list< BVHFrontNode >	BVHFrontList

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

typedef bool()(ContinuousCollisionObject o1, ContinuousCollisionObject o2, void cdata	ContinuousCollisionCallBack)

typedef bool()(ContinuousCollisionObject o1, ContinuousCollisionObject *o2, S &dist	ContinuousDistanceCallBack)

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 std::shared_ptr< MeshLoader >	MeshLoaderPtr

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

enum	BVHModelType

enum	BVHReturnCode

enum	CollisionRequestFlag

enum	GJKConvergenceCriterion

enum	GJKConvergenceCriterionType

enum	GJKInitialGuess

enum	GJKVariant

enum	NODE_TYPE

enum	OBJECT_TYPE

enum	SplitMethodType

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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)

FCL_REAL	clamp (const FCL_REAL &num, const FCL_REAL &denom)

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

void	clipToRange (FCL_REAL &val, FCL_REAL a, FCL_REAL b)

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)

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)

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

HPP_FCL_DLLAPI void	computeBV< AABB, Box > (const Box &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, Capsule > (const Capsule &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, Cone > (const Cone &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, Ellipsoid > (const Ellipsoid &e, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, Plane > (const Plane &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, Sphere > (const Sphere &s, const Transform3f &tf, AABB &bv)

HPP_FCL_DLLAPI void	computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3f &tf, AABB &bv)

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

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

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

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

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

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

HPP_FCL_DLLAPI void	computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3f &tf, kIOS &bv)

HPP_FCL_DLLAPI void	computeBV< kIOS, Plane > (const Plane &s, const Transform3f &tf, kIOS &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, Box > (const Box &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, Capsule > (const Capsule &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, Cone > (const Cone &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, Plane > (const Plane &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBB, Sphere > (const Sphere &s, const Transform3f &tf, OBB &bv)

HPP_FCL_DLLAPI void	computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3f &tf, OBBRSS &bv)

HPP_FCL_DLLAPI void	computeBV< OBBRSS, Plane > (const Plane &s, const Transform3f &tf, OBBRSS &bv)

HPP_FCL_DLLAPI void	computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3f &tf, RSS &bv)

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)

size_t	computeMemoryFootprint (const T &object)

void	computeSplitValue_bvcenter (const BV &bv, FCL_REAL &split_value)

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)

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)

void	computeSplitVector (const BV &bv, Vec3f &split_vector)

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

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

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

HPP_FCL_DLLAPI void	constructBox (const AABB &bv, Box &box, Transform3f &tf)

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)

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

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

bool	defaultCollisionFunction (CollisionObject o1, CollisionObject o2, void *data)

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

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)

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)

FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3f P=NULL, Vec3f Q=NULL)

HPP_FCL_DLLAPI FCL_REAL	distance (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, Vec3f P=NULL, Vec3f Q=NULL)

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)

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

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)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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)

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)

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

const char *	get_node_type_name (NODE_TYPE node_type)

const char *	get_object_type_name (OBJECT_TYPE object_type)

CollisionFunctionMatrix &	getCollisionFunctionLookTable ()

HPP_FCL_DLLAPI void	getCovariance (Vec3f ps, Vec3f ps2, Triangle ts, unsigned int indices, unsigned int n, Matrix3f &M)

DistanceFunctionMatrix &	getDistanceFunctionLookTable ()

void	getDistances (const Vec3f &, FCL_REAL *)

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

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

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)

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

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

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

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)

	HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Box,)

	HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Capsule,)

	HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Cylinder,)

	HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Capsule,)

	HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Sphere,)

	HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (TriangleP,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Halfspace,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Plane,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Halfspace,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Plane,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Halfspace,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Plane,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Halfspace,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Plane,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Plane, Halfspace,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Capsule,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Halfspace,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Plane,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Halfspace,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Plane,)

	HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Sphere,)

	HPP_FCL_DECLARE_SHAPE_TRIANGLE (Halfspace,)

	HPP_FCL_DECLARE_SHAPE_TRIANGLE (Plane,)

	HPP_FCL_DECLARE_SHAPE_TRIANGLE (Sphere,)

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)

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)

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

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

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)

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_smalldist (const OBB &b1, const OBB &b2)

void	minmax (FCL_REAL a, FCL_REAL b, FCL_REAL &minv, FCL_REAL &maxv)

void	minmax (FCL_REAL p, FCL_REAL &minv, FCL_REAL &maxv)

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)

bool	overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< 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)

HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)

HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2)

HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)

HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2)

HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)

bool	overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2)

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)

HPP_FCL_DLLAPI bool	overlap (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)

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)

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)

	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)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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)

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)

HPP_FCL_DLLAPI KDOP< N >	translate (const KDOP< N > &bv, const Vec3f &t)

HPP_FCL_DLLAPI kIOS	translate (const kIOS &bv, const Vec3f &t)

HPP_FCL_DLLAPI OBB	translate (const OBB &bv, const Vec3f &t)

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 &)

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)

Variables
	Absolute

	BoundingVolumeGuess

	BV_AABB

	BV_KDOP16

	BV_KDOP18

	BV_KDOP24

	BV_kIOS

	BV_OBB

	BV_OBBRSS

	BV_RSS

	BV_UNKNOWN

	BVH_BUILD_STATE_BEGUN

	BVH_BUILD_STATE_EMPTY

	BVH_BUILD_STATE_PROCESSED

	BVH_BUILD_STATE_REPLACE_BEGUN

	BVH_BUILD_STATE_UPDATE_BEGUN

	BVH_BUILD_STATE_UPDATED

	BVH_ERR_BUILD_EMPTY_MODEL

	BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME

	BVH_ERR_BUILD_OUT_OF_SEQUENCE

	BVH_ERR_INCORRECT_DATA

	BVH_ERR_MODEL_OUT_OF_MEMORY

	BVH_ERR_UNKNOWN

	BVH_ERR_UNSUPPORTED_FUNCTION

	BVH_ERR_UNUPDATED_MODEL

	BVH_MODEL_POINTCLOUD

	BVH_MODEL_TRIANGLES

	BVH_MODEL_UNKNOWN

	BVH_OK

	CachedGuess

	CONTACT

static const double	cosA

	DefaultGJK

	DefaultGuess

	DISTANCE_LOWER_BOUND

	DualityGap

	GEOM_BOX

	GEOM_CAPSULE

	GEOM_CONE

	GEOM_CONVEX

	GEOM_CYLINDER

	GEOM_ELLIPSOID

	GEOM_HALFSPACE

	GEOM_OCTREE

	GEOM_PLANE

	GEOM_SPHERE

	GEOM_TRIANGLE

	HF_AABB

	HF_OBBRSS

	Hybrid

static const double	invSinA

static const double	kIOS_RATIO

	NesterovAcceleration

	NO_REQUEST

	NODE_COUNT

	OT_BVH

	OT_COUNT

	OT_GEOM

	OT_HFIELD

	OT_OCTREE

	OT_UNKNOWN

const Eigen::IOFormat	pyfmt

	Relative

	SPLIT_METHOD_BV_CENTER

	SPLIT_METHOD_MEAN

	SPLIT_METHOD_MEDIAN

const Vec3f	UnitX

const Vec3f	UnitY

const Vec3f	UnitZ

	VDB

const Eigen::IOFormat	vfmt

Typedef Documentation

◆ MeshLoaderPtr

typedef std::shared_ptr<MeshLoader> hpp::fcl::MeshLoaderPtr

Definition at line 25 of file meshloader-fwd.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ MeshLoaderPtr