Classes | Namespaces | Functions
test_fcl_utility.h File Reference
#include "fcl/math/transform.h"
#include "fcl/collision_data.h"
#include "fcl/collision_object.h"
#include <sys/time.h>
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Classes

struct  fcl::CollisionData
 Collision data stores the collision request and the result given by collision algorithm. More...
struct  fcl::DistanceData
 Distance data stores the distance request and the result given by distance algorithm. More...
struct  fcl::DistanceRes
 @ brief Structure for minimum distance between two meshes and the corresponding nearest point pair More...
class  fcl::Timer

Namespaces

namespace  fcl
 

Main namespace.


Functions

bool fcl::defaultCollisionFunction (CollisionObject *o1, CollisionObject *o2, void *cdata)
 Default collision callback for two objects o1 and o2 in broad phase. return value means whether the broad phase can stop now.
bool fcl::defaultDistanceFunction (CollisionObject *o1, CollisionObject *o2, void *cdata, FCL_REAL &dist)
 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.
void 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].
void fcl::generateRandomTransforms (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::size_t n)
 Generate n random transforms whose translations are constrained by extents.
void 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.
void fcl::generateRandomTransforms_ccd (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::vector< Transform3f > &transforms2, FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::size_t n, const std::vector< Vec3f > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3f > &vertices2, const std::vector< Triangle > &triangles2)
 Generate n random tranforms and transform2 with addtional random translation/rotation. The transforms and transform2 are used as initial and goal configurations for the first mesh. The second mesh is in I. This is used for continuous collision detection checking.
void fcl::loadOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
 Load an obj mesh file.
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:31