convex_hull_utils.h

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#ifndef TESSERACT_COLLISION_BULLET_CONVEX_HULL_UTILS_H
#define TESSERACT_COLLISION_BULLET_CONVEX_HULL_UTILS_H
 
#include <tesseract_common/types.h>
#include <tesseract_geometry/impl/mesh.h>
#include <tesseract_geometry/impl/convex_mesh.h>
 
namespace tesseract_collision
{
int createConvexHull(tesseract_common::VectorVector3d& vertices,
                     Eigen::VectorXi& faces,
                     const tesseract_common::VectorVector3d& input,
                     double shrink = -1,
                     double shrinkClamp = -1);
 
tesseract_geometry::ConvexMesh::Ptr makeConvexMesh(const tesseract_geometry::Mesh& mesh);
 
}  // namespace tesseract_collision
 
#endif  // TESSERACT_COLLISION_BULLET_CONVEX_HULL_UTILS_H