#include <hpp/fcl/shape/geometric_shapes.h>#include <hpp/fcl/BVH/BVH_model.h>#include <boost/math/constants/constants.hpp>
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Namespaces | |
| hpp | |
| Main namespace. | |
| hpp::fcl | |
Functions | |
| template<typename BV > | |
| void | hpp::fcl::generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3f &pose) |
| Generate BVH model from box. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |