Classes | Namespaces | Macros | Typedefs | Functions
utility.h File Reference
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/broadphase/default_broadphase_callbacks.h>
#include <hpp/fcl/shape/convex.h>
#include <sys/time.h>
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Classes

class  hpp::fcl::BenchTimer
 
struct  hpp::fcl::DistanceRes
 
struct  hpp::fcl::TStruct
 

Namespaces

 hpp
 Main namespace.
 
 hpp::fcl
 
 octomap
 

Macros

#define EIGEN_MATRIX_IS_APPROX(Va, Vb, precision)
 
#define EIGEN_VECTOR_IS_APPROX(Va, Vb, precision)
 

Typedefs

typedef Eigen::AngleAxis< FCL_REAL > hpp::fcl::AngleAxis
 

Functions

Convex< Triangle > hpp::fcl::constructPolytopeFromEllipsoid (const Ellipsoid &ellipsoid)
 We give an ellipsoid as input. The output is a 20 faces polytope which vertices belong to the original ellipsoid surface. The procedure is simple: we construct a icosahedron, see https://sinestesia.co/blog/tutorials/python-icospheres/ . We then apply an ellipsoid tranformation to each vertex of the icosahedron. More...
 
bool hpp::fcl::defaultCollisionFunction (CollisionObject *o1, CollisionObject *o2, void *data)
 Provides a simple callback for the collision query in the BroadPhaseCollisionManager. It assumes the data parameter is non-null and points to an instance of CollisionData. It simply invokes the collide() method on the culled pair of geometries and stores the results in the data's CollisionResult instance. More...
 
bool hpp::fcl::defaultDistanceFunction (CollisionObject *o1, CollisionObject *o2, void *data, FCL_REAL &dist)
 Collision data for use with the DefaultContinuousCollisionFunction. It stores the collision request and the result given by the collision algorithm (and stores the conclusion of whether further evaluation of the broadphase collision manager has been deemed unnecessary). More...
 
void hpp::fcl::generateEnvironments (std::vector< CollisionObject * > &env, FCL_REAL env_scale, std::size_t n)
 
void hpp::fcl::generateEnvironmentsMesh (std::vector< CollisionObject * > &env, FCL_REAL env_scale, std::size_t n)
 
void hpp::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]. More...
 
void hpp::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. More...
 
void hpp::fcl::generateRandomTransforms (FCL_REAL extents[6], std::vector< Transform3f > &transforms, std::size_t n)
 Generate n random transforms whose translations are constrained by extents. More...
 
std::size_t hpp::fcl::getNbRun (const int &argc, char const *const *argv, std::size_t defaultValue)
 Get the argument –nb-run from argv. More...
 
std::string hpp::fcl::getNodeTypeName (NODE_TYPE node_type)
 
void hpp::fcl::loadOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
 Load an obj mesh file. More...
 
Quaternion3f hpp::fcl::makeQuat (FCL_REAL w, FCL_REAL x, FCL_REAL y, FCL_REAL z)
 
std::ostream & hpp::fcl::operator<< (std::ostream &os, const Transform3f &tf)
 
void hpp::fcl::saveOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
 

Macro Definition Documentation

◆ EIGEN_MATRIX_IS_APPROX

#define EIGEN_MATRIX_IS_APPROX (   Va,
  Vb,
  precision 
)
Value:
BOOST_CHECK_MESSAGE(((Va) - (Vb)).isZero(precision), "check " #Va \
".isApprox(" #Vb \
") failed " \
"[\n" \
<< (Va) << "\n!=\n" \
<< (Vb) << "\n]")

Definition at line 66 of file utility.h.

◆ EIGEN_VECTOR_IS_APPROX

#define EIGEN_VECTOR_IS_APPROX (   Va,
  Vb,
  precision 
)
Value:
BOOST_CHECK_MESSAGE(((Va) - (Vb)).isZero(precision), \
"check " #Va ".isApprox(" #Vb \
") failed " \
"[\n" \
<< (Va).transpose() << "\n!=\n" \
<< (Vb).transpose() << "\n]")
Author
Jia Pan

Definition at line 59 of file utility.h.



hpp-fcl
Author(s):
autogenerated on Fri Aug 2 2024 02:45:16