Classes of different types of bounding volume. More...

Classes
class	hpp::fcl::AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...

class	hpp::fcl::KDOP< N >
	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23. More...

class	hpp::fcl::kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...

struct	hpp::fcl::kIOS::kIOS_Sphere
	One sphere in kIOS. More...

struct	hpp::fcl::OBB
	Oriented bounding box class. More...

struct	hpp::fcl::OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...

struct	hpp::fcl::RSS
	A class for rectangle sphere-swept bounding volume. More...

Functions
	hpp::fcl::AABB::AABB ()
	Creating an AABB with zero size (low bound +inf, upper bound -inf) More...

	hpp::fcl::AABB::AABB (const AABB &core, const Vec3f &delta)
	Creating an AABB centered as core and is of half-dimension delta. More...

	hpp::fcl::AABB::AABB (const AABB &other)=default

	hpp::fcl::AABB::AABB (const Vec3f &a, const Vec3f &b)
	Creating an AABB with two endpoints a and b. More...

	hpp::fcl::AABB::AABB (const Vec3f &a, const Vec3f &b, const Vec3f &c)
	Creating an AABB contains three points. More...

	hpp::fcl::AABB::AABB (const Vec3f &v)
	Creating an AABB at position v with zero size. More...

bool	hpp::fcl::AABB::axisOverlap (const AABB &other, int axis_id) const
	Check whether two AABB are overlapped along specific axis. More...

const Vec3f &	hpp::fcl::OBB::center () const
	Center of the OBB. More...

const Vec3f &	hpp::fcl::OBBRSS::center () const
	Center of the OBBRSS. More...

const Vec3f &	hpp::fcl::RSS::center () const
	The RSS center. More...

Vec3f	hpp::fcl::KDOP< N >::center () const
	The (AABB) center. More...

const Vec3f &	hpp::fcl::kIOS::center () const
	Center of the kIOS. More...

bool	hpp::fcl::AABB::contain (const AABB &other) const
	Check whether the AABB contains another AABB. More...

bool	hpp::fcl::OBBRSS::contain (const Vec3f &p) const
	Check whether the OBBRSS contains a point. More...

bool	hpp::fcl::OBB::contain (const Vec3f &p) const
	Check whether the OBB contains a point. More...

bool	hpp::fcl::RSS::contain (const Vec3f &p) const
	Check whether the RSS contains a point. More...

bool	hpp::fcl::kIOS::contain (const Vec3f &p) const
	Check whether the kIOS contains a point. More...

FCL_REAL	hpp::fcl::OBB::depth () const
	Depth of the OBB. More...

FCL_REAL	hpp::fcl::OBBRSS::depth () const
	Depth of the OBBRSS. More...

FCL_REAL	hpp::fcl::RSS::depth () const
	Depth of the RSS. More...

FCL_REAL	hpp::fcl::KDOP< N >::depth () const
	The (AABB) depth. More...

FCL_REAL	hpp::fcl::kIOS::depth () const
	Depth of the kIOS. More...

FCL_REAL &	hpp::fcl::KDOP< N >::dist (short i)

FCL_REAL	hpp::fcl::KDOP< N >::dist (short i) const

FCL_REAL	hpp::fcl::KDOP< N >::distance (const KDOP< N > &other, Vec3f P=NULL, Vec3f Q=NULL) const
	The distance between two KDOP<N>. Not implemented. More...

FCL_REAL	hpp::fcl::kIOS::distance (const kIOS &other, Vec3f P=NULL, Vec3f Q=NULL) const
	The distance between two kIOS. More...

HPP_FCL_DLLAPI FCL_REAL	hpp::fcl::distance (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f P=NULL, Vec3f Q=NULL)
	Approximate distance between two kIOS bounding volumes. More...

FCL_REAL	hpp::fcl::distance (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3f P=NULL, Vec3f Q=NULL)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points. More...

HPP_FCL_DLLAPI FCL_REAL	hpp::fcl::distance (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, Vec3f P=NULL, Vec3f Q=NULL)
	distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1) More...

FCL_REAL	hpp::fcl::OBB::distance (const OBB &other, Vec3f P=NULL, Vec3f Q=NULL) const
	Distance between two OBBs, not implemented. More...

FCL_REAL	hpp::fcl::OBBRSS::distance (const OBBRSS &other, Vec3f P=NULL, Vec3f Q=NULL) const
	Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points. More...

FCL_REAL	hpp::fcl::RSS::distance (const RSS &other, Vec3f P=NULL, Vec3f Q=NULL) const
	the distance between two RSS; P and Q, if not NULL, return the nearest points More...

static kIOS_Sphere	hpp::fcl::kIOS::encloseSphere (const kIOS_Sphere &s0, const kIOS_Sphere &s1)
	generate one sphere enclosing two spheres More...

AABB &	hpp::fcl::AABB::expand (const AABB &core, FCL_REAL ratio)
	expand the aabb by increase the thickness of the plate by a ratio More...

AABB &	hpp::fcl::AABB::expand (const FCL_REAL delta)
	expand the half size of the AABB by a scalar delta, and keep the center unchanged. More...

AABB &	hpp::fcl::AABB::expand (const Vec3f &delta)
	expand the half size of the AABB by delta, and keep the center unchanged. More...

FCL_REAL	hpp::fcl::OBB::height () const
	Height of the OBB. More...

FCL_REAL	hpp::fcl::OBBRSS::height () const
	Height of the OBBRSS. More...

FCL_REAL	hpp::fcl::RSS::height () const
	Height of the RSS. More...

FCL_REAL	hpp::fcl::KDOP< N >::height () const
	The (AABB) height. More...

FCL_REAL	hpp::fcl::kIOS::height () const
	Height of the kIOS. More...

bool	hpp::fcl::KDOP< N >::inside (const Vec3f &p) const

	hpp::fcl::KDOP< N >::KDOP ()
	Creating kDOP containing nothing. More...

	hpp::fcl::KDOP< N >::KDOP (const Vec3f &a, const Vec3f &b)
	Creating kDOP containing two points. More...

	hpp::fcl::KDOP< N >::KDOP (const Vec3f &v)
	Creating kDOP containing only one point. More...

	hpp::fcl::OBB::OBB ()

HPP_FCL_DLLAPI bool	hpp::fcl::obbDisjoint (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)

bool	hpp::fcl::AABB::operator!= (const AABB &other) const

bool	hpp::fcl::KDOP< N >::operator!= (const KDOP &other) const
	Difference operator. More...

bool	hpp::fcl::kIOS::operator!= (const kIOS &other) const
	Difference operator. More...

bool	hpp::fcl::kIOS::kIOS_Sphere::operator!= (const kIOS_Sphere &other) const

bool	hpp::fcl::OBB::operator!= (const OBB &other) const
	Difference operator. More...

bool	hpp::fcl::OBBRSS::operator!= (const OBBRSS &other) const
	Difference operator. More...

bool	hpp::fcl::RSS::operator!= (const RSS &other) const
	Difference operator. More...

KDOP< N >	hpp::fcl::KDOP< N >::operator+ (const KDOP< N > &other) const
	Create a KDOP by mergin two KDOPs. More...

kIOS	hpp::fcl::kIOS::operator+ (const kIOS &other) const
	Return the merged kIOS of current kIOS and the other one. More...

OBB	hpp::fcl::OBB::operator+ (const OBB &other) const
	Return the merged OBB of current OBB and the other one (the result is not compact). More...

OBBRSS	hpp::fcl::OBBRSS::operator+ (const OBBRSS &other) const
	Merge two OBBRSS. More...

RSS	hpp::fcl::RSS::operator+ (const RSS &other) const
	Return the merged RSS of current RSS and the other one. More...

KDOP< N > &	hpp::fcl::KDOP< N >::operator+= (const KDOP< N > &other)
	Merge two KDOPs. More...

kIOS &	hpp::fcl::kIOS::operator+= (const kIOS &other)
	Merge the kIOS and another kIOS. More...

OBB &	hpp::fcl::OBB::operator+= (const OBB &other)
	Merge the OBB and another OBB (the result is not compact). More...

OBBRSS &	hpp::fcl::OBBRSS::operator+= (const OBBRSS &other)
	Merge two OBBRSS. More...

RSS &	hpp::fcl::RSS::operator+= (const RSS &other)
	Merge the RSS and another RSS. More...

OBBRSS &	hpp::fcl::OBBRSS::operator+= (const Vec3f &p)
	Merge the OBBRSS and a point. More...

OBB &	hpp::fcl::OBB::operator+= (const Vec3f &p)
	A simple way to merge the OBB and a point (the result is not compact). More...

RSS &	hpp::fcl::RSS::operator+= (const Vec3f &p)
	A simple way to merge the RSS and a point, not compact. More...

KDOP< N > &	hpp::fcl::KDOP< N >::operator+= (const Vec3f &p)
	Merge the point and the KDOP. More...

kIOS &	hpp::fcl::kIOS::operator+= (const Vec3f &p)
	A simple way to merge the kIOS and a point. More...

AABB &	hpp::fcl::AABB::operator= (const AABB &other)=default

bool	hpp::fcl::AABB::operator== (const AABB &other) const
	Comparison operator. More...

bool	hpp::fcl::KDOP< N >::operator== (const KDOP &other) const
	Equality operator. More...

bool	hpp::fcl::kIOS::operator== (const kIOS &other) const
	Equality operator. More...

bool	hpp::fcl::kIOS::kIOS_Sphere::operator== (const kIOS_Sphere &other) const

bool	hpp::fcl::OBB::operator== (const OBB &other) const
	Equality operator. More...

bool	hpp::fcl::OBBRSS::operator== (const OBBRSS &other) const
	Equality operator. More...

bool	hpp::fcl::RSS::operator== (const RSS &other) const
	Equality operator. More...

bool	hpp::fcl::AABB::overlap (const AABB &other, AABB &overlap_part) const
	Check whether two AABB are overlap and return the overlap part. More...

bool	hpp::fcl::KDOP< N >::overlap (const KDOP< N > &other) const
	Check whether two KDOPs overlap. More...

bool	hpp::fcl::KDOP< N >::overlap (const KDOP< N > &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check whether two KDOPs overlap. More...

bool	hpp::fcl::kIOS::overlap (const kIOS &other) const
	Check collision between two kIOS. More...

bool	hpp::fcl::kIOS::overlap (const kIOS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
	Check collision between two kIOS. More...

template<short N>
bool	hpp::fcl::overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &)

template<short N>
bool	hpp::fcl::overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, FCL_REAL &)

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...

bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

HPP_FCL_DLLAPI bool	hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

bool	hpp::fcl::OBB::overlap (const OBB &other) const

bool	hpp::fcl::OBB::overlap (const OBB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const

bool	hpp::fcl::OBBRSS::overlap (const OBBRSS &other) const
	Check collision between two OBBRSS. More...

bool	hpp::fcl::OBBRSS::overlap (const OBBRSS &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const

bool	hpp::fcl::RSS::overlap (const RSS &other) const
	Check collision between two RSS. More...

bool	hpp::fcl::RSS::overlap (const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
	Not implemented. More...

bool	hpp::fcl::RSS::overlap (const RSS &other, RSS &) const
	Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS. More...

static AABB	hpp::fcl::rotate (const AABB &aabb, const Matrix3f &R)

	hpp::fcl::RSS::RSS ()
	More...

FCL_REAL	hpp::fcl::OBB::size () const
	Size of the OBB (used in BV_Splitter to order two OBBs) More...

FCL_REAL	hpp::fcl::OBBRSS::size () const
	Size of the OBBRSS (used in BV_Splitter to order two OBBRSS) More...

FCL_REAL	hpp::fcl::RSS::size () const
	Size of the RSS (used in BV_Splitter to order two RSSs) More...

FCL_REAL	hpp::fcl::KDOP< N >::size () const
	Size of the kDOP (used in BV_Splitter to order two kDOPs) More...

FCL_REAL	hpp::fcl::kIOS::size () const
	size of the kIOS (used in BV_Splitter to order two kIOSs) More...

static AABB	hpp::fcl::translate (const AABB &aabb, const Vec3f &t)
	translate the center of AABB by t More...

template<short N>
HPP_FCL_DLLAPI KDOP< N >	hpp::fcl::translate (const KDOP< N > &bv, const Vec3f &t)
	translate the KDOP BV More...

HPP_FCL_DLLAPI kIOS	hpp::fcl::translate (const kIOS &bv, const Vec3f &t)
	Translate the kIOS BV. More...

HPP_FCL_DLLAPI OBB	hpp::fcl::translate (const OBB &bv, const Vec3f &t)
	Translate the OBB bv. More...

AABB &	hpp::fcl::AABB::update (const Vec3f &a, const Vec3f &b)

FCL_REAL	hpp::fcl::OBB::volume () const
	Volume of the OBB. More...

FCL_REAL	hpp::fcl::OBBRSS::volume () const
	Volume of the OBBRSS. More...

FCL_REAL	hpp::fcl::RSS::volume () const
	Volume of the RSS. More...

FCL_REAL	hpp::fcl::kIOS::volume () const
	Volume of the kIOS. More...

FCL_REAL	hpp::fcl::KDOP< N >::volume () const
	The (AABB) volume. More...

FCL_REAL	hpp::fcl::OBB::width () const
	Width of the OBB. More...

FCL_REAL	hpp::fcl::OBBRSS::width () const
	Width of the OBRSS. More...

FCL_REAL	hpp::fcl::RSS::width () const
	Width of the RSS. More...

FCL_REAL	hpp::fcl::kIOS::width () const
	Width of the kIOS. More...

FCL_REAL	hpp::fcl::KDOP< N >::width () const
	The (AABB) width. More...

Variables
Matrix3f	hpp::fcl::OBB::axes
	Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. More...

Matrix3f	hpp::fcl::RSS::axes
	Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. More...

Eigen::Array< FCL_REAL, N, 1 >	hpp::fcl::KDOP< N >::dist_
	Origin's distances to N KDOP planes. More...

Vec3f	hpp::fcl::OBB::extent
	Half dimensions of OBB. More...

FCL_REAL	hpp::fcl::RSS::length [2]
	Side lengths of rectangle. More...

Vec3f	hpp::fcl::AABB::max_
	The max point in the AABB. More...

Vec3f	hpp::fcl::AABB::min_
	The min point in the AABB. More...

unsigned int	hpp::fcl::kIOS::num_spheres
	The number of spheres, no larger than 5. More...

Vec3f	hpp::fcl::kIOS::kIOS_Sphere::o

OBB	hpp::fcl::OBBRSS::obb
	OBB member, for rotation. More...

OBB	hpp::fcl::kIOS::obb
	@ OBB related with kIOS More...

FCL_REAL	hpp::fcl::kIOS::kIOS_Sphere::r

FCL_REAL	hpp::fcl::RSS::radius
	Radius of sphere summed with rectangle to form RSS. More...

RSS	hpp::fcl::OBBRSS::rss
	RSS member, for distance. More...

kIOS_Sphere	hpp::fcl::kIOS::spheres [5]
	The (at most) five spheres for intersection. More...

Vec3f	hpp::fcl::OBB::To
	Center of OBB. More...

Vec3f	hpp::fcl::RSS::Tr
	Origin of the rectangle in RSS. More...

Bounding volume API
Common API to BVs.
bool	hpp::fcl::AABB::contain (const Vec3f &p) const
	Check whether the AABB contains a point. More...

bool	hpp::fcl::AABB::overlap (const AABB &other) const
	Check whether two AABB are overlap. More...

bool	hpp::fcl::AABB::overlap (const AABB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check whether two AABB are overlap. More...

FCL_REAL	hpp::fcl::AABB::distance (const AABB &other) const
	Distance between two AABBs. More...

FCL_REAL	hpp::fcl::AABB::distance (const AABB &other, Vec3f P, Vec3f Q) const
	Distance between two AABBs; P and Q, should not be NULL, return the nearest points. More...

AABB &	hpp::fcl::AABB::operator+= (const Vec3f &p)
	Merge the AABB and a point. More...

AABB &	hpp::fcl::AABB::operator+= (const AABB &other)
	Merge the AABB and another AABB. More...

AABB	hpp::fcl::AABB::operator+ (const AABB &other) const
	Return the merged AABB of current AABB and the other one. More...

FCL_REAL	hpp::fcl::AABB::size () const
	Size of the AABB (used in BV_Splitter to order two AABBs) More...

Vec3f	hpp::fcl::AABB::center () const
	Center of the AABB. More...

FCL_REAL	hpp::fcl::AABB::width () const
	Width of the AABB. More...

FCL_REAL	hpp::fcl::AABB::height () const
	Height of the AABB. More...

FCL_REAL	hpp::fcl::AABB::depth () const
	Depth of the AABB. More...

FCL_REAL	hpp::fcl::AABB::volume () const
	Volume of the AABB. More...

Detailed Description

Classes of different types of bounding volume.

Function Documentation

◆ AABB() [1/6]

hpp::fcl::AABB::AABB ( )

Creating an AABB with zero size (low bound +inf, upper bound -inf)

Definition at line 46 of file AABB.cpp.

◆ AABB() [2/6]

hpp::fcl::AABB::AABB	(	const AABB &	core,
		const Vec3f &	delta
	)

inline

Creating an AABB centered as core and is of half-dimension delta.

Definition at line 72 of file BV/AABB.h.

◆ AABB() [3/6]

hpp::fcl::AABB::AABB ( const AABB & other )

default

◆ AABB() [4/6]

hpp::fcl::AABB::AABB	(	const Vec3f &	a,
		const Vec3f &	b
	)

inline

Creating an AABB with two endpoints a and b.

Definition at line 68 of file BV/AABB.h.

◆ AABB() [5/6]

hpp::fcl::AABB::AABB	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c
	)

inline

Creating an AABB contains three points.

Definition at line 76 of file BV/AABB.h.

◆ AABB() [6/6]

hpp::fcl::AABB::AABB ( const Vec3f & v )

inline

Creating an AABB at position v with zero size.

Definition at line 65 of file BV/AABB.h.

◆ axisOverlap()

bool hpp::fcl::AABB::axisOverlap	(	const AABB &	other,
		int	axis_id
	)		const

inline

Check whether two AABB are overlapped along specific axis.

Definition at line 192 of file BV/AABB.h.

◆ center() [1/6]

const Vec3f& hpp::fcl::OBB::center ( ) const

inline

Center of the OBB.

Definition at line 111 of file include/hpp/fcl/BV/OBB.h.

◆ center() [2/6]

const Vec3f& hpp::fcl::OBBRSS::center ( ) const

inline

Center of the OBBRSS.

Definition at line 115 of file BV/OBBRSS.h.

◆ center() [3/6]

const Vec3f& hpp::fcl::RSS::center ( ) const

inline

The RSS center.

Definition at line 123 of file BV/RSS.h.

◆ center() [4/6]

template<short N>

Vec3f hpp::fcl::KDOP< N >::center ( ) const

inline

The (AABB) center.

Definition at line 146 of file kDOP.h.

◆ center() [5/6]

const Vec3f& hpp::fcl::kIOS::center ( ) const

inline

Center of the kIOS.

Definition at line 148 of file kIOS.h.

◆ center() [6/6]

Vec3f hpp::fcl::AABB::center ( ) const

inline

Center of the AABB.

Definition at line 157 of file BV/AABB.h.

◆ contain() [1/6]

bool hpp::fcl::AABB::contain ( const AABB & other ) const

inline

Check whether the AABB contains another AABB.

Definition at line 174 of file BV/AABB.h.

◆ contain() [2/6]

bool hpp::fcl::OBBRSS::contain ( const Vec3f & p ) const

inline

Check whether the OBBRSS contains a point.

Definition at line 70 of file BV/OBBRSS.h.

◆ contain() [3/6]

bool hpp::fcl::OBB::contain ( const Vec3f & p ) const

Check whether the OBB contains a point.

Definition at line 426 of file OBB.cpp.

◆ contain() [4/6]

bool hpp::fcl::RSS::contain ( const Vec3f & p ) const

Check whether the RSS contains a point.

projection is within the rectangle

Definition at line 763 of file RSS.cpp.

◆ contain() [5/6]

bool hpp::fcl::AABB::contain ( const Vec3f & p ) const

inline

Check whether the AABB contains a point.

Definition at line 101 of file BV/AABB.h.

◆ contain() [6/6]

bool hpp::fcl::kIOS::contain ( const Vec3f & p ) const

Check whether the kIOS contains a point.

Definition at line 77 of file kIOS.cpp.

◆ depth() [1/6]

FCL_REAL hpp::fcl::OBB::depth ( ) const

inline

Depth of the OBB.

Definition at line 120 of file include/hpp/fcl/BV/OBB.h.

◆ depth() [2/6]

FCL_REAL hpp::fcl::OBBRSS::depth ( ) const

inline

Depth of the OBBRSS.

Definition at line 124 of file BV/OBBRSS.h.

◆ depth() [3/6]

FCL_REAL hpp::fcl::RSS::depth ( ) const

inline

Depth of the RSS.

Definition at line 132 of file BV/RSS.h.

◆ depth() [4/6]

FCL_REAL hpp::fcl::kIOS::depth ( ) const

Depth of the kIOS.

Definition at line 117 of file kIOS.cpp.

◆ depth() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::depth ( ) const

inline

The (AABB) depth.

Definition at line 157 of file kDOP.h.

◆ depth() [6/6]

FCL_REAL hpp::fcl::AABB::depth ( ) const

inline

Depth of the AABB.

Definition at line 166 of file BV/AABB.h.

◆ dist() [1/2]

template<short N>

FCL_REAL& hpp::fcl::KDOP< N >::dist ( short i )

inline

Definition at line 164 of file kDOP.h.

◆ dist() [2/2]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::dist ( short i ) const

inline

Definition at line 162 of file kDOP.h.

◆ distance() [1/10]

FCL_REAL hpp::fcl::AABB::distance ( const AABB & other ) const

Distance between two AABBs.

Definition at line 114 of file AABB.cpp.

◆ distance() [2/10]

FCL_REAL hpp::fcl::AABB::distance	(	const AABB &	other,
		Vec3f *	P,
		Vec3f *	Q
	)		const

Distance between two AABBs; P and Q, should not be NULL, return the nearest points.

Definition at line 74 of file AABB.cpp.

◆ distance() [3/10]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::distance	(	const KDOP< N > &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

The distance between two KDOP<N>. Not implemented.

Definition at line 216 of file kDOP.cpp.

◆ distance() [4/10]

FCL_REAL hpp::fcl::kIOS::distance	(	const kIOS &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

The distance between two kIOS.

Definition at line 123 of file kIOS.cpp.

◆ distance() [5/10]

FCL_REAL hpp::fcl::distance	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const kIOS &	b1,
		const kIOS &	b2,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)

Approximate distance between two kIOS bounding volumes.

Todo:: P and Q is not returned, need implementation

Definition at line 181 of file kIOS.cpp.

◆ distance() [6/10]

FCL_REAL hpp::fcl::distance	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)

inline

Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points.

Definition at line 151 of file BV/OBBRSS.h.

◆ distance() [7/10]

FCL_REAL hpp::fcl::distance	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const RSS &	b1,
		const RSS &	b2,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)

distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)

Definition at line 995 of file RSS.cpp.

◆ distance() [8/10]

FCL_REAL hpp::fcl::OBB::distance	(	const OBB &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

Distance between two OBBs, not implemented.

Definition at line 462 of file OBB.cpp.

◆ distance() [9/10]

FCL_REAL hpp::fcl::OBBRSS::distance	(	const OBBRSS &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

inline

Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.

Definition at line 85 of file BV/OBBRSS.h.

◆ distance() [10/10]

FCL_REAL hpp::fcl::RSS::distance	(	const RSS &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

the distance between two RSS; P and Q, if not NULL, return the nearest points

Definition at line 983 of file RSS.cpp.

◆ encloseSphere()

static kIOS_Sphere hpp::fcl::kIOS::encloseSphere	(	const kIOS_Sphere &	s0,
		const kIOS_Sphere &	s1
	)

inlinestaticprivate

generate one sphere enclosing two spheres

The sphere with the larger radius encloses the other

spheres partially overlapping or disjoint

Definition at line 69 of file kIOS.h.

◆ expand() [1/3]

AABB& hpp::fcl::AABB::expand	(	const AABB &	core,
		FCL_REAL	ratio
	)

inline

expand the aabb by increase the thickness of the plate by a ratio

Definition at line 216 of file BV/AABB.h.

◆ expand() [2/3]

AABB& hpp::fcl::AABB::expand ( const FCL_REAL delta )

inline

expand the half size of the AABB by a scalar delta, and keep the center unchanged.

Definition at line 209 of file BV/AABB.h.

◆ expand() [3/3]

AABB& hpp::fcl::AABB::expand ( const Vec3f & delta )

inline

expand the half size of the AABB by delta, and keep the center unchanged.

Definition at line 201 of file BV/AABB.h.

◆ height() [1/6]

FCL_REAL hpp::fcl::OBB::height ( ) const

inline

Height of the OBB.

Definition at line 117 of file include/hpp/fcl/BV/OBB.h.

◆ height() [2/6]

FCL_REAL hpp::fcl::OBBRSS::height ( ) const

inline

Height of the OBBRSS.

Definition at line 121 of file BV/OBBRSS.h.

◆ height() [3/6]

FCL_REAL hpp::fcl::RSS::height ( ) const

inline

Height of the RSS.

Definition at line 129 of file BV/RSS.h.

◆ height() [4/6]

FCL_REAL hpp::fcl::kIOS::height ( ) const

Height of the kIOS.

Definition at line 115 of file kIOS.cpp.

◆ height() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::height ( ) const

inline

The (AABB) height.

Definition at line 154 of file kDOP.h.

◆ height() [6/6]

FCL_REAL hpp::fcl::AABB::height ( ) const

inline

Height of the AABB.

Definition at line 163 of file BV/AABB.h.

◆ inside()

template<short N>

bool hpp::fcl::KDOP< N >::inside ( const Vec3f & p ) const

Definition at line 171 of file kDOP.cpp.

◆ KDOP() [1/3]

template<short N>

hpp::fcl::KDOP< N >::KDOP

Creating kDOP containing nothing.

Definition at line 102 of file kDOP.cpp.

◆ KDOP() [2/3]

template<short N>

hpp::fcl::KDOP< N >::KDOP	(	const Vec3f &	a,
		const Vec3f &	b
	)

Creating kDOP containing two points.

Definition at line 122 of file kDOP.cpp.

◆ KDOP() [3/3]

template<short N>

hpp::fcl::KDOP< N >::KDOP ( const Vec3f & v )

Creating kDOP containing only one point.

Definition at line 109 of file kDOP.cpp.

◆ OBB()

hpp::fcl::OBB::OBB ( )

inline

Definition at line 66 of file include/hpp/fcl/BV/OBB.h.

◆ obbDisjoint()

bool hpp::fcl::obbDisjoint	(	const Matrix3f &	B,
		const Vec3f &	T,
		const Vec3f &	a,
		const Vec3f &	b
	)

Check collision between two boxes

Parameters

B,T	orientation and position of first box,
a	half dimensions of first box,
b	half dimensions of second box. The second box is in identity configuration.

Definition at line 162 of file OBB.cpp.

◆ operator!=() [1/7]

bool hpp::fcl::AABB::operator!= ( const AABB & other ) const

inline

Definition at line 94 of file BV/AABB.h.

◆ operator!=() [2/7]

template<short N>

bool hpp::fcl::KDOP< N >::operator!= ( const KDOP< N > & other ) const

inline

Difference operator.

Definition at line 113 of file kDOP.h.

◆ operator!=() [3/7]

bool hpp::fcl::kIOS::operator!= ( const kIOS & other ) const

inline

Difference operator.

Definition at line 108 of file kIOS.h.

◆ operator!=() [4/7]

bool hpp::fcl::kIOS::kIOS_Sphere::operator!= ( const kIOS_Sphere & other ) const

inline

Definition at line 63 of file kIOS.h.

◆ operator!=() [5/7]

bool hpp::fcl::OBB::operator!= ( const OBB & other ) const

inline

Difference operator.

Definition at line 74 of file include/hpp/fcl/BV/OBB.h.

◆ operator!=() [6/7]

bool hpp::fcl::OBBRSS::operator!= ( const OBBRSS & other ) const

inline

Difference operator.

Definition at line 67 of file BV/OBBRSS.h.

◆ operator!=() [7/7]

bool hpp::fcl::RSS::operator!= ( const RSS & other ) const

inline

Difference operator.

Definition at line 84 of file BV/RSS.h.

◆ operator+() [1/6]

AABB hpp::fcl::AABB::operator+ ( const AABB & other ) const

inline

Return the merged AABB of current AABB and the other one.

Definition at line 148 of file BV/AABB.h.

◆ operator+() [2/6]

template<short N>

KDOP< N > hpp::fcl::KDOP< N >::operator+ ( const KDOP< N > & other ) const

Create a KDOP by mergin two KDOPs.

Definition at line 210 of file kDOP.cpp.

◆ operator+() [3/6]

kIOS hpp::fcl::kIOS::operator+ ( const kIOS & other ) const

Return the merged kIOS of current kIOS and the other one.

Definition at line 99 of file kIOS.cpp.

◆ operator+() [4/6]

OBB hpp::fcl::OBB::operator+ ( const OBB & other ) const

Return the merged OBB of current OBB and the other one (the result is not compact).

Definition at line 450 of file OBB.cpp.

◆ operator+() [5/6]

OBBRSS hpp::fcl::OBBRSS::operator+ ( const OBBRSS & other ) const

inline

Merge two OBBRSS.

Definition at line 104 of file BV/OBBRSS.h.

◆ operator+() [6/6]

RSS hpp::fcl::RSS::operator+ ( const RSS & other ) const

Return the merged RSS of current RSS and the other one.

Definition at line 908 of file RSS.cpp.

◆ operator+=() [1/12]

AABB& hpp::fcl::AABB::operator+= ( const AABB & other )

inline

Merge the AABB and another AABB.

Definition at line 141 of file BV/AABB.h.

◆ operator+=() [2/12]

template<short N>

KDOP< N > & hpp::fcl::KDOP< N >::operator+= ( const KDOP< N > & other )

Merge two KDOPs.

Definition at line 201 of file kDOP.cpp.

◆ operator+=() [3/12]

kIOS& hpp::fcl::kIOS::operator+= ( const kIOS & other )

inline

Merge the kIOS and another kIOS.

Definition at line 136 of file kIOS.h.

◆ operator+=() [4/12]

OBB& hpp::fcl::OBB::operator+= ( const OBB & other )

inline

Merge the OBB and another OBB (the result is not compact).

Definition at line 98 of file include/hpp/fcl/BV/OBB.h.

◆ operator+=() [5/12]

OBBRSS& hpp::fcl::OBBRSS::operator+= ( const OBBRSS & other )

inline

Merge two OBBRSS.

Definition at line 98 of file BV/OBBRSS.h.

◆ operator+=() [6/12]

RSS& hpp::fcl::RSS::operator+= ( const RSS & other )

inline

Merge the RSS and another RSS.

Definition at line 108 of file BV/RSS.h.

◆ operator+=() [7/12]

OBBRSS& hpp::fcl::OBBRSS::operator+= ( const Vec3f & p )

inline

Merge the OBBRSS and a point.

Definition at line 91 of file BV/OBBRSS.h.

◆ operator+=() [8/12]

OBB & hpp::fcl::OBB::operator+= ( const Vec3f & p )

A simple way to merge the OBB and a point (the result is not compact).

Definition at line 440 of file OBB.cpp.

◆ operator+=() [9/12]

RSS & hpp::fcl::RSS::operator+= ( const Vec3f & p )

A simple way to merge the RSS and a point, not compact.

Todo:: This function may have some bug.

Definition at line 794 of file RSS.cpp.

◆ operator+=() [10/12]

template<short N>

KDOP< N > & hpp::fcl::KDOP< N >::operator+= ( const Vec3f & p )

Merge the point and the KDOP.

Definition at line 186 of file kDOP.cpp.

◆ operator+=() [11/12]

kIOS & hpp::fcl::kIOS::operator+= ( const Vec3f & p )

A simple way to merge the kIOS and a point.

Definition at line 86 of file kIOS.cpp.

◆ operator+=() [12/12]

AABB& hpp::fcl::AABB::operator+= ( const Vec3f & p )

inline

Merge the AABB and a point.

Definition at line 134 of file BV/AABB.h.

◆ operator=()

AABB& hpp::fcl::AABB::operator= ( const AABB & other )

default

◆ operator==() [1/7]

bool hpp::fcl::AABB::operator== ( const AABB & other ) const

inline

Comparison operator.

Definition at line 90 of file BV/AABB.h.

◆ operator==() [2/7]

template<short N>

bool hpp::fcl::KDOP< N >::operator== ( const KDOP< N > & other ) const

inline

Equality operator.

Definition at line 108 of file kDOP.h.

◆ operator==() [3/7]

bool hpp::fcl::kIOS::operator== ( const kIOS & other ) const

inline

Equality operator.

Definition at line 96 of file kIOS.h.

◆ operator==() [4/7]

bool hpp::fcl::kIOS::kIOS_Sphere::operator== ( const kIOS_Sphere & other ) const

inline

Definition at line 59 of file kIOS.h.

◆ operator==() [5/7]

bool hpp::fcl::OBB::operator== ( const OBB & other ) const

inline

Equality operator.

Definition at line 69 of file include/hpp/fcl/BV/OBB.h.

◆ operator==() [6/7]

bool hpp::fcl::OBBRSS::operator== ( const OBBRSS & other ) const

inline

Equality operator.

Definition at line 62 of file BV/OBBRSS.h.

◆ operator==() [7/7]

bool hpp::fcl::RSS::operator== ( const RSS & other ) const

inline

Equality operator.

Definition at line 77 of file BV/RSS.h.

◆ overlap() [1/26]

bool hpp::fcl::AABB::overlap ( const AABB & other ) const

inline

Check whether two AABB are overlap.

Definition at line 110 of file BV/AABB.h.

◆ overlap() [2/26]

bool hpp::fcl::AABB::overlap	(	const AABB &	other,
		AABB &	overlap_part
	)		const

inline

Check whether two AABB are overlap and return the overlap part.

Definition at line 181 of file BV/AABB.h.

◆ overlap() [3/26]

bool hpp::fcl::AABB::overlap	(	const AABB &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check whether two AABB are overlap.

Definition at line 50 of file AABB.cpp.

◆ overlap() [4/26]

template<short N>

bool hpp::fcl::KDOP< N >::overlap ( const KDOP< N > & other ) const

Check whether two KDOPs overlap.

Definition at line 136 of file kDOP.cpp.

◆ overlap() [5/26]

template<short N>

bool hpp::fcl::KDOP< N >::overlap	(	const KDOP< N > &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check whether two KDOPs overlap.

Returns: true if collision happens.

Return values

sqrDistLowerBound squared lower bound on distance between boxes if they do not overlap.

Definition at line 145 of file kDOP.cpp.

◆ overlap() [6/26]

bool hpp::fcl::kIOS::overlap ( const kIOS & other ) const

Check collision between two kIOS.

Definition at line 48 of file kIOS.cpp.

◆ overlap() [7/26]

bool hpp::fcl::kIOS::overlap	(	const kIOS &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check collision between two kIOS.

Definition at line 60 of file kIOS.cpp.

◆ overlap() [8/26]

template<short N>

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

Definition at line 176 of file kDOP.h.

◆ overlap() [9/26]

template<short N>

bool hpp::fcl::overlap	(	const Matrix3f &	,
		const Vec3f &	,
		const KDOP< N > &	,
		const KDOP< N > &	,
		const CollisionRequest &	,
		FCL_REAL &
	)

Definition at line 182 of file kDOP.h.

◆ overlap() [10/26]

bool hpp::fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const AABB &	b1,
		const AABB &	b2
	)

Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 134 of file AABB.cpp.

◆ overlap() [11/26]

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

Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 140 of file AABB.cpp.

◆ overlap() [12/26]

bool hpp::fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const kIOS &	b1,
		const kIOS &	b2
	)

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:: Not efficient

Definition at line 152 of file kIOS.cpp.

◆ overlap() [13/26]

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

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:: Not efficient

Definition at line 166 of file kIOS.cpp.

◆ overlap() [14/26]

bool hpp::fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBB &	b1,
		const OBB &	b2
	)

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 467 of file OBB.cpp.

◆ overlap() [15/26]

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

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 476 of file OBB.cpp.

◆ overlap() [16/26]

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

inline

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

Definition at line 132 of file BV/OBBRSS.h.

◆ overlap() [17/26]

bool hpp::fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)

inline

Check collision between two OBBRSS

Parameters

R0,T0	configuration of b1
b1	first OBBRSS in configuration (R0, T0)
b2	second OBBRSS in identity position

Return values

sqrDistLowerBound squared lower bound on the distance if OBBRSS do not overlap.

Definition at line 143 of file BV/OBBRSS.h.

◆ overlap() [18/26]

bool hpp::fcl::overlap	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const RSS &	b1,
		const RSS &	b2
	)

Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 730 of file RSS.cpp.

◆ overlap() [19/26]

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

Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 745 of file RSS.cpp.

◆ overlap() [20/26]

bool hpp::fcl::OBB::overlap ( const OBB & other ) const

Check collision between two OBB

Returns: true if collision happens.

compute what transform [R,T] that takes us from cs1 to cs2. [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)] First compute the rotation part, then translation part

Definition at line 396 of file OBB.cpp.

◆ overlap() [21/26]

bool hpp::fcl::OBB::overlap	(	const OBB &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check collision between two OBB

Returns: true if collision happens.

Return values

sqrDistLowerBound squared lower bound on distance between boxes if they do not overlap.

compute what transform [R,T] that takes us from cs1 to cs2. [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)] First compute the rotation part, then translation part

Definition at line 406 of file OBB.cpp.

◆ overlap() [22/26]

bool hpp::fcl::OBBRSS::overlap ( const OBBRSS & other ) const

inline

Check collision between two OBBRSS.

Definition at line 73 of file BV/OBBRSS.h.

◆ overlap() [23/26]

bool hpp::fcl::OBBRSS::overlap	(	const OBBRSS &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

inline

Check collision between two OBBRSS

Return values

sqrDistLowerBound squared lower bound on distance between objects if they do not overlap.

Definition at line 78 of file BV/OBBRSS.h.

◆ overlap() [24/26]

bool hpp::fcl::RSS::overlap ( const RSS & other ) const

Check collision between two RSS.

compute what transform [R,T] that takes us from cs1 to cs2. [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)] First compute the rotation part, then translation part

Then compute R1'(T2 - T1)

Now compute R1'R2

Definition at line 715 of file RSS.cpp.

◆ overlap() [25/26]

bool hpp::fcl::RSS::overlap	(	const RSS &	other,
		const CollisionRequest &	,
		FCL_REAL &	sqrDistLowerBound
	)		const

inline

Not implemented.

Definition at line 93 of file BV/RSS.h.

◆ overlap() [26/26]

bool hpp::fcl::RSS::overlap	(	const RSS &	other,
		RSS &
	)		const

inline

Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

Definition at line 144 of file BV/RSS.h.

◆ rotate()

static AABB hpp::fcl::rotate	(	const AABB &	aabb,
		const Matrix3f &	R
	)

inlinestatic

Definition at line 233 of file BV/AABB.h.

◆ RSS()

hpp::fcl::RSS::RSS ( )

inline

Default constructor with default values

Definition at line 71 of file BV/RSS.h.

◆ size() [1/6]

FCL_REAL hpp::fcl::OBB::size ( ) const

inline

Size of the OBB (used in BV_Splitter to order two OBBs)

Definition at line 108 of file include/hpp/fcl/BV/OBB.h.

◆ size() [2/6]

FCL_REAL hpp::fcl::OBBRSS::size ( ) const

inline

Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)

Definition at line 112 of file BV/OBBRSS.h.

◆ size() [3/6]

FCL_REAL hpp::fcl::RSS::size ( ) const

inline

Size of the RSS (used in BV_Splitter to order two RSSs)

Definition at line 117 of file BV/RSS.h.

◆ size() [4/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::size ( ) const

inline

Size of the kDOP (used in BV_Splitter to order two kDOPs)

Definition at line 141 of file kDOP.h.

◆ size() [5/6]

FCL_REAL hpp::fcl::kIOS::size ( ) const

size of the kIOS (used in BV_Splitter to order two kIOSs)

Definition at line 121 of file kIOS.cpp.

◆ size() [6/6]

FCL_REAL hpp::fcl::AABB::size ( ) const

inline

Size of the AABB (used in BV_Splitter to order two AABBs)

Definition at line 154 of file BV/AABB.h.

◆ translate() [1/4]

static AABB hpp::fcl::translate	(	const AABB &	aabb,
		const Vec3f &	t
	)

inlinestatic

translate the center of AABB by t

Definition at line 226 of file BV/AABB.h.

◆ translate() [2/4]

template<short N>

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

translate the KDOP BV

Definition at line 223 of file kDOP.cpp.

◆ translate() [3/4]

kIOS hpp::fcl::translate	(	const kIOS &	bv,
		const Vec3f &	t
	)

Translate the kIOS BV.

Definition at line 191 of file kIOS.cpp.

◆ translate() [4/4]

OBB hpp::fcl::translate	(	const OBB &	bv,
		const Vec3f &	t
	)

Translate the OBB bv.

Definition at line 486 of file OBB.cpp.

◆ update()

AABB& hpp::fcl::AABB::update	(	const Vec3f &	a,
		const Vec3f &	b
	)

inline

Definition at line 83 of file BV/AABB.h.

◆ volume() [1/6]

FCL_REAL hpp::fcl::OBB::volume ( ) const

inline

Volume of the OBB.

Definition at line 123 of file include/hpp/fcl/BV/OBB.h.

◆ volume() [2/6]

FCL_REAL hpp::fcl::OBBRSS::volume ( ) const

inline

Volume of the OBBRSS.

Definition at line 127 of file BV/OBBRSS.h.

◆ volume() [3/6]

FCL_REAL hpp::fcl::RSS::volume ( ) const

inline

Volume of the RSS.

Definition at line 135 of file BV/RSS.h.

◆ volume() [4/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::volume ( ) const

inline

The (AABB) volume.

Definition at line 160 of file kDOP.h.

◆ volume() [5/6]

FCL_REAL hpp::fcl::kIOS::volume ( ) const

Volume of the kIOS.

Definition at line 119 of file kIOS.cpp.

◆ volume() [6/6]

FCL_REAL hpp::fcl::AABB::volume ( ) const

inline

Volume of the AABB.

Definition at line 169 of file BV/AABB.h.

◆ width() [1/6]

FCL_REAL hpp::fcl::OBB::width ( ) const

inline

Width of the OBB.

Definition at line 114 of file include/hpp/fcl/BV/OBB.h.

◆ width() [2/6]

FCL_REAL hpp::fcl::OBBRSS::width ( ) const

inline

Width of the OBRSS.

Definition at line 118 of file BV/OBBRSS.h.

◆ width() [3/6]

FCL_REAL hpp::fcl::RSS::width ( ) const

inline

Width of the RSS.

Definition at line 126 of file BV/RSS.h.

◆ width() [4/6]

FCL_REAL hpp::fcl::kIOS::width ( ) const

Width of the kIOS.

Definition at line 113 of file kIOS.cpp.

◆ width() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::width ( ) const

inline

The (AABB) width.

Definition at line 151 of file kDOP.h.

◆ width() [6/6]

FCL_REAL hpp::fcl::AABB::width ( ) const

inline

Width of the AABB.

Definition at line 160 of file BV/AABB.h.

Variable Documentation

◆ axes [1/2]

Matrix3f hpp::fcl::OBB::axes

Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

Definition at line 58 of file include/hpp/fcl/BV/OBB.h.

◆ axes [2/2]

Matrix3f hpp::fcl::RSS::axes

Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

Definition at line 59 of file BV/RSS.h.

◆ dist_

template<short N>

Eigen::Array<FCL_REAL, N, 1> hpp::fcl::KDOP< N >::dist_

protected

Origin's distances to N KDOP planes.

Definition at line 95 of file kDOP.h.

◆ extent

Vec3f hpp::fcl::OBB::extent

Half dimensions of OBB.

Definition at line 64 of file include/hpp/fcl/BV/OBB.h.

◆ length

FCL_REAL hpp::fcl::RSS::length[2]

Side lengths of rectangle.

Definition at line 65 of file BV/RSS.h.

◆ max_

Vec3f hpp::fcl::AABB::max_

The max point in the AABB.

Definition at line 59 of file BV/AABB.h.

◆ min_

Vec3f hpp::fcl::AABB::min_

The min point in the AABB.

Definition at line 57 of file BV/AABB.h.

◆ num_spheres

unsigned int hpp::fcl::kIOS::num_spheres

The number of spheres, no larger than 5.

Definition at line 114 of file kIOS.h.

◆ o

Vec3f hpp::fcl::kIOS::kIOS_Sphere::o

Definition at line 56 of file kIOS.h.

◆ obb [1/2]

OBB hpp::fcl::OBBRSS::obb

OBB member, for rotation.

Definition at line 56 of file BV/OBBRSS.h.

◆ obb [2/2]

OBB hpp::fcl::kIOS::obb

@ OBB related with kIOS

Definition at line 117 of file kIOS.h.

◆ r

FCL_REAL hpp::fcl::kIOS::kIOS_Sphere::r

Definition at line 57 of file kIOS.h.

◆ radius

FCL_REAL hpp::fcl::RSS::radius

Radius of sphere summed with rectangle to form RSS.

Definition at line 68 of file BV/RSS.h.

◆ rss

RSS hpp::fcl::OBBRSS::rss

RSS member, for distance.

Definition at line 59 of file BV/OBBRSS.h.

◆ spheres

kIOS_Sphere hpp::fcl::kIOS::spheres[5]

The (at most) five spheres for intersection.

Definition at line 111 of file kIOS.h.

◆ To

Vec3f hpp::fcl::OBB::To

Center of OBB.

Definition at line 61 of file include/hpp/fcl/BV/OBB.h.

◆ Tr

Vec3f hpp::fcl::RSS::Tr

Origin of the rectangle in RSS.

Definition at line 62 of file BV/RSS.h.

Classes

Functions

Variables

Bounding volume API

Detailed Description

Function Documentation

◆ AABB() [1/6]

◆ AABB() [2/6]

◆ AABB() [3/6]

◆ AABB() [4/6]

◆ AABB() [5/6]

◆ AABB() [6/6]

◆ axisOverlap()

◆ center() [1/6]

◆ center() [2/6]

◆ center() [3/6]

◆ center() [4/6]

◆ center() [5/6]

◆ center() [6/6]

◆ contain() [1/6]

◆ contain() [2/6]

◆ contain() [3/6]

◆ contain() [4/6]

◆ contain() [5/6]

◆ contain() [6/6]

◆ depth() [1/6]

◆ depth() [2/6]

◆ depth() [3/6]

◆ depth() [4/6]

◆ depth() [5/6]

◆ depth() [6/6]

◆ dist() [1/2]

◆ dist() [2/2]

◆ distance() [1/10]

◆ distance() [2/10]

◆ distance() [3/10]

◆ distance() [4/10]

◆ distance() [5/10]

◆ distance() [6/10]

◆ distance() [7/10]

◆ distance() [8/10]

◆ distance() [9/10]

◆ distance() [10/10]

◆ encloseSphere()

◆ expand() [1/3]

◆ expand() [2/3]

◆ expand() [3/3]

◆ height() [1/6]

◆ height() [2/6]

◆ height() [3/6]

◆ height() [4/6]

◆ height() [5/6]

◆ height() [6/6]

◆ inside()

◆ KDOP() [1/3]

◆ KDOP() [2/3]

◆ KDOP() [3/3]

◆ OBB()

◆ obbDisjoint()

◆ operator!=() [1/7]

◆ operator!=() [2/7]

◆ operator!=() [3/7]

◆ operator!=() [4/7]

◆ operator!=() [5/7]

◆ operator!=() [6/7]

◆ operator!=() [7/7]

◆ operator+() [1/6]

◆ operator+() [2/6]

◆ operator+() [3/6]

◆ operator+() [4/6]

◆ operator+() [5/6]

◆ operator+() [6/6]

◆ operator+=() [1/12]

◆ operator+=() [2/12]

◆ operator+=() [3/12]

◆ operator+=() [4/12]

◆ operator+=() [5/12]

◆ operator+=() [6/12]

◆ operator+=() [7/12]

◆ operator+=() [8/12]