hpp::fcl Namespace Reference

Namespaces
	details
	internal
	time
	Namespace containing time datatypes and time operations.
	tools

Classes
class	AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
class	Box
	Center at zero point, axis aligned box. More...
class	BVFitter
	The class for the default algorithm fitting a bounding volume to a set of points. More...
class	BVFitter< AABB >
	Specification of BVFitter for AABB bounding volume. More...
class	BVFitter< kIOS >
	Specification of BVFitter for kIOS bounding volume. More...
class	BVFitter< OBB >
	Specification of BVFitter for OBB bounding volume. More...
class	BVFitter< OBBRSS >
	Specification of BVFitter for OBBRSS bounding volume. More...
class	BVFitter< RSS >
	Specification of BVFitter for RSS bounding volume. More...
class	BVFitterTpl
	The class for the default algorithm fitting a bounding volume to a set of points. More...
struct	BVHFrontNode
	Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hierarchy, where the traversal terminates while performing a query during a given time instance. More...
class	BVHModel
	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
class	BVHModelBase
	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
struct	BVNode
	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...
struct	BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...
class	BVSplitter
	A class describing the split rule that splits each BV node. More...
class	CachedMeshLoader
	Class for building polyhedron from files with cache mechanism. More...
class	Capsule
	Capsule It is \( { x \in \mathcal{R}^3, d(x, AB) < radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \). More...
struct	CollisionFunctionMatrix
	collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...
class	CollisionGeometry
	The geometry for the object for collision or distance computation. More...
class	CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...
struct	CollisionRequest
	request to the collision algorithm More...
struct	CollisionResult
	collision result More...
class	Cone
	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \). More...
struct	Contact
	Contact information returned by collision. More...
class	Convex
	Convex polytope. More...
class	ConvexBase
	Base for convex polytope. More...
class	Cylinder
	Cylinder along Z axis. More...
struct	DistanceFunctionMatrix
	distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
struct	DistanceRequest
	request to the distance computation More...
struct	DistanceResult
	distance result More...
struct	GJKSolver
	collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...
class	Halfspace
	Half Space: this is equivalent to the Plane in ODE. More...
class	KDOP
	KDOP class describes the KDOP collision structures. More...
class	kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...
class	MeshLoader
	Base class for building polyhedron from files. More...
class	OBB
	Oriented bounding box class. More...
class	OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
class	OcTree
	Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...
class	Plane
	Infinite plane. More...
class	RSS
	A class for rectangle sphere-swept bounding volume. More...
class	ShapeBase
	Base class for all basic geometric shapes. More...
class	Sphere
	Center at zero point sphere. More...
class	Transform3f
	Simple transform class used locally by InterpMotion. More...
struct	TraversalTraitsCollision
struct	TraversalTraitsDistance
class	Triangle
	Triangle with 3 indices for points. More...
class	TriangleP
	Triangle stores the points instead of only indices of points. More...

Typedefs
typedef std::list< BVHFrontNode >	BVHFrontList
	BVH front list is a list of front nodes. More...
typedef double	FCL_REAL
typedef boost::uint64_t	FCL_INT64
typedef boost::int64_t	FCL_UINT64
typedef boost::uint32_t	FCL_UINT32
typedef boost::int32_t	FCL_INT32
typedef Eigen::Matrix< FCL_REAL, 3, 1 >	Vec3f
typedef Eigen::Matrix< FCL_REAL, 3, 3 >	Matrix3f
typedef boost::shared_ptr< CollisionObject >	CollisionObjectPtr_t
typedef boost::shared_ptr< const CollisionObject >	CollisionObjectConstPtr_t
typedef boost::shared_ptr< CollisionGeometry >	CollisionGeometryPtr_t
typedef boost::shared_ptr< const CollisionGeometry >	CollisionGeometryConstPtr_t
typedef boost::shared_ptr< BVHModelBase >	BVHModelPtr_t
typedef Eigen::Quaternion< FCL_REAL >	Quaternion3f

Enumerations
enum	BVHBuildState {   BVH_BUILD_STATE_EMPTY,   BVH_BUILD_STATE_BEGUN,   BVH_BUILD_STATE_PROCESSED,   BVH_BUILD_STATE_UPDATE_BEGUN,   BVH_BUILD_STATE_UPDATED,   BVH_BUILD_STATE_REPLACE_BEGUN }
	States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... More...
enum	BVHReturnCode {   BVH_OK = 0,   BVH_ERR_MODEL_OUT_OF_MEMORY = -1,   BVH_ERR_BUILD_OUT_OF_SEQUENCE = -2,   BVH_ERR_BUILD_EMPTY_MODEL = -3,   BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -4,   BVH_ERR_UNSUPPORTED_FUNCTION = -5,   BVH_ERR_UNUPDATED_MODEL = -6,   BVH_ERR_INCORRECT_DATA = -7,   BVH_ERR_UNKNOWN = -8 }
	Error code for BVH. More...
enum	BVHModelType {   BVH_MODEL_UNKNOWN,   BVH_MODEL_TRIANGLES,   BVH_MODEL_POINTCLOUD }
	BVH model type. More...
enum	CollisionRequestFlag {   CONTACT = 0x00001,   DISTANCE_LOWER_BOUND = 0x00002,   NO_REQUEST = 0x01000 }
	flag declaration for specifying required params in CollisionResult More...
enum	OBJECT_TYPE {   OT_UNKNOWN,   OT_BVH,   OT_GEOM,   OT_OCTREE,   OT_COUNT }
	object type: BVH (mesh, points), basic geometry, octree More...
enum	NODE_TYPE {   BV_UNKNOWN,   BV_AABB,   BV_OBB,   BV_RSS,   BV_kIOS,   BV_OBBRSS,   BV_KDOP16,   BV_KDOP18,   BV_KDOP24,   GEOM_BOX,   GEOM_SPHERE,   GEOM_CAPSULE,   GEOM_CONE,   GEOM_CYLINDER,   GEOM_CONVEX,   GEOM_PLANE,   GEOM_HALFSPACE,   GEOM_TRIANGLE,   GEOM_OCTREE,   NODE_COUNT }
	traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree More...
enum	SplitMethodType {   SPLIT_METHOD_MEAN,   SPLIT_METHOD_MEDIAN,   SPLIT_METHOD_BV_CENTER }
	Three types of split algorithms are provided in FCL as default. More...

Functions
static AABB	translate (const AABB &aabb, const Vec3f &t)
	translate the center of AABB by t More...
static AABB	rotate (const AABB &aabb, const Matrix3f &R)
bool	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...
bool	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...
template<typename BV1 , typename BV2 >
static void	convertBV (const BV1 &bv1, const Transform3f &tf1, BV2 &bv2)
	Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration. More...
template<short N>
bool	overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &)
template<short N>
bool	overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, FCL_REAL &)
template<short N>
KDOP< N >	translate (const KDOP< N > &bv, const Vec3f &t)
	translate the KDOP BV More...
kIOS	translate (const kIOS &bv, const Vec3f &t)
	Translate the kIOS BV. More...
bool	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...
bool	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...
FCL_REAL	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...
OBB	translate (const OBB &bv, const Vec3f &t)
	Translate the OBB bv. More...
bool	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...
bool	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	obbDisjoint (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)
	Check collision between two boxes. More...
bool	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	overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
	Check collision between two OBBRSS. More...
FCL_REAL	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...
FCL_REAL	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. More...
bool	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...
bool	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...
void	updateFrontList (BVHFrontList *front_list, int b1, int b2)
	Add new front node into the front list. More...
template<typename BV >
BVHModel< BV > *	BVHExtract (const BVHModel< BV > &model, const Transform3f &pose, const AABB &aabb)
	Extract the part of the BVHModel that is inside an AABB. More...
void	getCovariance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &M)
	Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More...
void	getRadiusAndOriginAndRectangleSize (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
void	getExtentAndCenter (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
void	circumCircleComputation (const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
	Compute the center and radius for a triangle's circumcircle. More...
FCL_REAL	maximumDistance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, const Vec3f &query)
	Compute the maximum distance from a given center point to a point cloud. More...
std::size_t	collide (const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
	Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. More...
std::size_t	collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
	Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. More...
CollisionRequestFlag	operator~ (CollisionRequestFlag a)
CollisionRequestFlag	operator| (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag	operator & (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag	operator^ (CollisionRequestFlag a, CollisionRequestFlag b)
CollisionRequestFlag &	operator|= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag &	operator &= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionRequestFlag &	operator^= (CollisionRequestFlag &a, CollisionRequestFlag b)
CollisionGeometry *	extract (const CollisionGeometry *model, const Transform3f &pose, const AABB &aabb)
FCL_REAL	distance (const CollisionObject *o1, const CollisionObject *o2, const DistanceRequest &request, DistanceResult &result)
	Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. More...
FCL_REAL	distance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
	Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. More...
template<typename BV >
void	fit (Vec3f *ps, int n, BV &bv)
	Compute a bounding volume that fits a set of n points. More...
template<>
void	fit< OBB > (Vec3f *ps, int n, OBB &bv)
template<>
void	fit< RSS > (Vec3f *ps, int n, RSS &bv)
template<>
void	fit< kIOS > (Vec3f *ps, int n, kIOS &bv)
template<>
void	fit< OBBRSS > (Vec3f *ps, int n, OBBRSS &bv)
template<>
void	fit< AABB > (Vec3f *ps, int n, AABB &bv)
template<typename Derived >
static Derived::Scalar	triple (const Eigen::MatrixBase< Derived > &x, const Eigen::MatrixBase< Derived > &y, const Eigen::MatrixBase< Derived > &z)
template<typename Derived1 , typename Derived2 , typename Derived3 >
void	generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v)
template<typename Derived , typename OtherDerived >
void	relativeTransform (const Eigen::MatrixBase< Derived > &R1, const Eigen::MatrixBase< OtherDerived > &t1, const Eigen::MatrixBase< Derived > &R2, const Eigen::MatrixBase< OtherDerived > &t2, const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &t)
template<typename Derived , typename Vector >
void	eigen (const Eigen::MatrixBase< Derived > &m, typename Derived::Scalar dout[3], Vector *vout)
	compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...
template<typename Derived , typename OtherDerived >
bool	isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const FCL_REAL tol=std::numeric_limits< FCL_REAL >::epsilon() *100)
static std::ostream &	operator<< (std::ostream &o, const Quaternion3f &q)
template<typename Derived >
Quaternion3f	fromAxisAngle (const Eigen::MatrixBase< Derived > &axis, FCL_REAL angle)
template<class BoundingVolume >
void	loadPolyhedronFromResource (const std::string &resource_path, const fcl::Vec3f &scale, const boost::shared_ptr< BVHModel< BoundingVolume > > &polyhedron)
	Read a mesh file and convert it to a polyhedral mesh. More...
static void	computeChildBV (const AABB &root_bv, unsigned int i, AABB &child_bv)
	compute the bounding volume of an octree node's i-th child More...
template<typename BV >
void	generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3f &pose)
	Generate BVH model from box. More...
template<typename BV >
void	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...
template<typename BV >
void	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. More...
template<typename BV >
void	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	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. More...
template<typename BV >
void	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	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. More...
template<typename BV , typename S >
void	computeBV (const S &s, const Transform3f &tf, BV &bv)
	calculate a bounding volume for a shape in a specific configuration More...
template<>
void	computeBV< AABB, Box > (const Box &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Sphere > (const Sphere &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Capsule > (const Capsule &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Cone > (const Cone &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< AABB, Plane > (const Plane &s, const Transform3f &tf, AABB &bv)
template<>
void	computeBV< OBB, Box > (const Box &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Sphere > (const Sphere &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Capsule > (const Capsule &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Cone > (const Cone &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3f &tf, RSS &bv)
template<>
void	computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3f &tf, OBBRSS &bv)
template<>
void	computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3f &tf, kIOS &bv)
template<>
void	computeBV< KDOP< 16 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 16 > &bv)
template<>
void	computeBV< KDOP< 18 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 18 > &bv)
template<>
void	computeBV< KDOP< 24 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 24 > &bv)
template<>
void	computeBV< OBB, Plane > (const Plane &s, const Transform3f &tf, OBB &bv)
template<>
void	computeBV< RSS, Plane > (const Plane &s, const Transform3f &tf, RSS &bv)
template<>
void	computeBV< OBBRSS, Plane > (const Plane &s, const Transform3f &tf, OBBRSS &bv)
template<>
void	computeBV< kIOS, Plane > (const Plane &s, const Transform3f &tf, kIOS &bv)
template<>
void	computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 16 > &bv)
template<>
void	computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 18 > &bv)
template<>
void	computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 24 > &bv)
void	constructBox (const AABB &bv, Box &box, Transform3f &tf)
	construct a box shape (with a configuration) from a given bounding volume More...
void	constructBox (const OBB &bv, Box &box, Transform3f &tf)
void	constructBox (const OBBRSS &bv, Box &box, Transform3f &tf)
void	constructBox (const kIOS &bv, Box &box, Transform3f &tf)
void	constructBox (const RSS &bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 16 > &bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 18 > &bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 24 > &bv, Box &box, Transform3f &tf)
void	constructBox (const AABB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const OBB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const OBBRSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const kIOS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const RSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 16 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 18 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
void	constructBox (const KDOP< 24 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf)
Halfspace	transform (const Halfspace &a, const Transform3f &tf)
Plane	transform (const Plane &a, const Transform3f &tf)
bool	obbDisjointAndLowerBoundDistance (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const CollisionRequest &request, FCL_REAL &squaredLowerBoundDistance)

Variables
const int	GST_INDEP = 0

Typedef Documentation

BVHFrontList

typedef std::list<BVHFrontNode> hpp::fcl::BVHFrontList

BVH front list is a list of front nodes.

BVHModelPtr_t

typedef boost::shared_ptr<BVHModelBase> hpp::fcl::BVHModelPtr_t

CollisionGeometryConstPtr_t

typedef boost::shared_ptr<const CollisionGeometry> hpp::fcl::CollisionGeometryConstPtr_t

CollisionGeometryPtr_t

typedef boost::shared_ptr<CollisionGeometry> hpp::fcl::CollisionGeometryPtr_t

CollisionObjectConstPtr_t

typedef boost::shared_ptr< const CollisionObject> hpp::fcl::CollisionObjectConstPtr_t

CollisionObjectPtr_t

typedef boost::shared_ptr<CollisionObject> hpp::fcl::CollisionObjectPtr_t

FCL_INT32

typedef boost::int32_t hpp::fcl::FCL_INT32

FCL_INT64

typedef boost::uint64_t hpp::fcl::FCL_INT64

FCL_REAL

typedef double hpp::fcl::FCL_REAL

FCL_UINT32

typedef boost::uint32_t hpp::fcl::FCL_UINT32

FCL_UINT64

typedef boost::int64_t hpp::fcl::FCL_UINT64

Matrix3f

typedef Eigen::Matrix<FCL_REAL, 3, 3> hpp::fcl::Matrix3f

Quaternion3f

typedef Eigen::Quaternion<FCL_REAL> hpp::fcl::Quaternion3f

Vec3f

typedef Eigen::Matrix<FCL_REAL, 3, 1> hpp::fcl::Vec3f

Enumeration Type Documentation

BVHBuildState

enum hpp::fcl::BVHBuildState

States for BVH construction empty->begun->processed ->replace_begun->processed -> ......

| |-> update_begun -> updated -> .....

Enumerator
BVH_BUILD_STATE_EMPTY
BVH_BUILD_STATE_BEGUN	empty state, immediately after constructor
BVH_BUILD_STATE_PROCESSED	after beginModel(), state for adding geometry primitives
BVH_BUILD_STATE_UPDATE_BEGUN	after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATED	after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_REPLACE_BEGUN	after tree has been build for updated geometry, ready for ccd use after beginReplaceModel(), state for replacing geometry primitives

BVHModelType

enum hpp::fcl::BVHModelType

BVH model type.

Enumerator
BVH_MODEL_UNKNOWN
BVH_MODEL_TRIANGLES	unknown model type
BVH_MODEL_POINTCLOUD	triangle model point cloud model

BVHReturnCode

enum hpp::fcl::BVHReturnCode

Error code for BVH.

Enumerator
BVH_OK
BVH_ERR_MODEL_OUT_OF_MEMORY	BVH is valid.
BVH_ERR_BUILD_OUT_OF_SEQUENCE	Cannot allocate memory for vertices and triangles.
BVH_ERR_BUILD_EMPTY_MODEL	BVH construction does not follow correct sequence.
BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME	BVH geometry is not prepared.
BVH_ERR_UNSUPPORTED_FUNCTION	BVH geometry in previous frame is not prepared.
BVH_ERR_UNUPDATED_MODEL	BVH funtion is not supported.
BVH_ERR_INCORRECT_DATA	BVH model update failed.
BVH_ERR_UNKNOWN	BVH data is not valid.

CollisionRequestFlag

enum hpp::fcl::CollisionRequestFlag

flag declaration for specifying required params in CollisionResult

Enumerator
CONTACT
DISTANCE_LOWER_BOUND
NO_REQUEST

NODE_TYPE

enum hpp::fcl::NODE_TYPE

traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree

Enumerator
BV_UNKNOWN
BV_AABB
BV_OBB
BV_RSS
BV_kIOS
BV_OBBRSS
BV_KDOP16
BV_KDOP18
BV_KDOP24
GEOM_BOX
GEOM_SPHERE
GEOM_CAPSULE
GEOM_CONE
GEOM_CYLINDER
GEOM_CONVEX
GEOM_PLANE
GEOM_HALFSPACE
GEOM_TRIANGLE
GEOM_OCTREE
NODE_COUNT

OBJECT_TYPE

enum hpp::fcl::OBJECT_TYPE

object type: BVH (mesh, points), basic geometry, octree

Enumerator
OT_UNKNOWN
OT_BVH
OT_GEOM
OT_OCTREE
OT_COUNT

SplitMethodType

enum hpp::fcl::SplitMethodType

Three types of split algorithms are provided in FCL as default.

Enumerator
SPLIT_METHOD_MEAN
SPLIT_METHOD_MEDIAN
SPLIT_METHOD_BV_CENTER

Function Documentation

BVHExtract()

template<typename BV >

BVHModel<BV>* hpp::fcl::BVHExtract	(	const BVHModel< BV > &	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

Extract the part of the BVHModel that is inside an AABB.

A triangle in collision with the AABB is considered inside.

circumCircleComputation()

void hpp::fcl::circumCircleComputation	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c,
		Vec3f &	center,
		FCL_REAL &	radius
	)

Compute the center and radius for a triangle's circumcircle.

collide() [1/2]

std::size_t hpp::fcl::collide	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them.

Return value is the number of contacts generated between the two objects.

collide() [2/2]

std::size_t hpp::fcl::collide	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const CollisionRequest &	request,
		CollisionResult &	result
	)

Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them.

Return value is the number of contacts generated between the two objects.

computeBV()

template<typename BV , typename S >

void hpp::fcl::computeBV	(	const S &	s,
		const Transform3f &	tf,
		BV &	bv
	)

calculate a bounding volume for a shape in a specific configuration

References computeBV< AABB, Box >(), computeBV< AABB, Capsule >(), computeBV< AABB, Cone >(), computeBV< AABB, ConvexBase >(), computeBV< AABB, Cylinder >(), computeBV< AABB, Halfspace >(), computeBV< AABB, Plane >(), computeBV< AABB, Sphere >(), computeBV< AABB, TriangleP >(), computeBV< kIOS, Halfspace >(), computeBV< kIOS, Plane >(), computeBV< OBB, Box >(), computeBV< OBB, Capsule >(), computeBV< OBB, Cone >(), computeBV< OBB, ConvexBase >(), computeBV< OBB, Cylinder >(), computeBV< OBB, Halfspace >(), computeBV< OBB, Plane >(), computeBV< OBB, Sphere >(), computeBV< OBBRSS, Halfspace >(), computeBV< OBBRSS, Plane >(), computeBV< RSS, Halfspace >(), computeBV< RSS, Plane >(), constructBox(), fit(), and transform().

Referenced by initialize(), and details::setupShapeMeshDistanceOrientedNode().

computeBV< AABB, Box >()

template<>

void hpp::fcl::computeBV< AABB, Box >	(	const Box &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, Capsule >()

template<>

void hpp::fcl::computeBV< AABB, Capsule >	(	const Capsule &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, Cone >()

template<>

void hpp::fcl::computeBV< AABB, Cone >	(	const Cone &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, ConvexBase >()

template<>

void hpp::fcl::computeBV< AABB, ConvexBase >	(	const ConvexBase &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, Cylinder >()

template<>

void hpp::fcl::computeBV< AABB, Cylinder >	(	const Cylinder &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, Halfspace >()

template<>

void hpp::fcl::computeBV< AABB, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, Plane >()

template<>

void hpp::fcl::computeBV< AABB, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, Sphere >()

template<>

void hpp::fcl::computeBV< AABB, Sphere >	(	const Sphere &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< AABB, TriangleP >()

template<>

void hpp::fcl::computeBV< AABB, TriangleP >	(	const TriangleP &	s,
		const Transform3f &	tf,
		AABB &	bv
	)

Referenced by computeBV().

computeBV< KDOP< 16 >, Halfspace >()

template<>

void hpp::fcl::computeBV< KDOP< 16 >, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		KDOP< 16 > &	bv
	)

computeBV< KDOP< 16 >, Plane >()

template<>

void hpp::fcl::computeBV< KDOP< 16 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 16 > &	bv
	)

computeBV< KDOP< 18 >, Halfspace >()

template<>

void hpp::fcl::computeBV< KDOP< 18 >, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		KDOP< 18 > &	bv
	)

computeBV< KDOP< 18 >, Plane >()

template<>

void hpp::fcl::computeBV< KDOP< 18 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 18 > &	bv
	)

computeBV< KDOP< 24 >, Halfspace >()

template<>

void hpp::fcl::computeBV< KDOP< 24 >, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		KDOP< 24 > &	bv
	)

computeBV< KDOP< 24 >, Plane >()

template<>

void hpp::fcl::computeBV< KDOP< 24 >, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		KDOP< 24 > &	bv
	)

computeBV< kIOS, Halfspace >()

template<>

void hpp::fcl::computeBV< kIOS, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		kIOS &	bv
	)

Referenced by computeBV().

computeBV< kIOS, Plane >()

template<>

void hpp::fcl::computeBV< kIOS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		kIOS &	bv
	)

Referenced by computeBV().

computeBV< OBB, Box >()

template<>

void hpp::fcl::computeBV< OBB, Box >	(	const Box &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBB, Capsule >()

template<>

void hpp::fcl::computeBV< OBB, Capsule >	(	const Capsule &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBB, Cone >()

template<>

void hpp::fcl::computeBV< OBB, Cone >	(	const Cone &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBB, ConvexBase >()

template<>

void hpp::fcl::computeBV< OBB, ConvexBase >	(	const ConvexBase &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBB, Cylinder >()

template<>

void hpp::fcl::computeBV< OBB, Cylinder >	(	const Cylinder &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBB, Halfspace >()

template<>

void hpp::fcl::computeBV< OBB, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBB, Plane >()

template<>

void hpp::fcl::computeBV< OBB, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBB, Sphere >()

template<>

void hpp::fcl::computeBV< OBB, Sphere >	(	const Sphere &	s,
		const Transform3f &	tf,
		OBB &	bv
	)

Referenced by computeBV().

computeBV< OBBRSS, Halfspace >()

template<>

void hpp::fcl::computeBV< OBBRSS, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		OBBRSS &	bv
	)

Referenced by computeBV().

computeBV< OBBRSS, Plane >()

template<>

void hpp::fcl::computeBV< OBBRSS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		OBBRSS &	bv
	)

Referenced by computeBV().

computeBV< RSS, Halfspace >()

template<>

void hpp::fcl::computeBV< RSS, Halfspace >	(	const Halfspace &	s,
		const Transform3f &	tf,
		RSS &	bv
	)

Referenced by computeBV().

computeBV< RSS, Plane >()

template<>

void hpp::fcl::computeBV< RSS, Plane >	(	const Plane &	s,
		const Transform3f &	tf,
		RSS &	bv
	)

Referenced by computeBV().

computeChildBV()

static void hpp::fcl::computeChildBV ( const AABB &  root_bv, unsigned int  i, AABB &  child_bv  )

inlinestatic

compute the bounding volume of an octree node's i-th child

References hpp::fcl::AABB::max_, and hpp::fcl::AABB::min_.

constructBox() [1/16]

void hpp::fcl::constructBox	(	const AABB &	bv,
		Box &	box,
		Transform3f &	tf
	)

construct a box shape (with a configuration) from a given bounding volume

Referenced by computeBV().

constructBox() [2/16]

void hpp::fcl::constructBox	(	const OBB &	bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [3/16]

void hpp::fcl::constructBox	(	const OBBRSS &	bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [4/16]

void hpp::fcl::constructBox	(	const kIOS &	bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [5/16]

void hpp::fcl::constructBox	(	const RSS &	bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [6/16]

void hpp::fcl::constructBox	(	const KDOP< 16 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [7/16]

void hpp::fcl::constructBox	(	const KDOP< 18 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [8/16]

void hpp::fcl::constructBox	(	const KDOP< 24 > &	bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [9/16]

void hpp::fcl::constructBox	(	const AABB &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [10/16]

void hpp::fcl::constructBox	(	const OBB &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [11/16]

void hpp::fcl::constructBox	(	const OBBRSS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [12/16]

void hpp::fcl::constructBox	(	const kIOS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [13/16]

void hpp::fcl::constructBox	(	const RSS &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [14/16]

void hpp::fcl::constructBox	(	const KDOP< 16 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [15/16]

void hpp::fcl::constructBox	(	const KDOP< 18 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

constructBox() [16/16]

void hpp::fcl::constructBox	(	const KDOP< 24 > &	bv,
		const Transform3f &	tf_bv,
		Box &	box,
		Transform3f &	tf
	)

convertBV()

template<typename BV1 , typename BV2 >

static void hpp::fcl::convertBV ( const BV1 &  bv1, const Transform3f &  tf1, BV2 &  bv2  )

inlinestatic

Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration.

distance() [1/2]

FCL_REAL hpp::fcl::distance	(	const CollisionObject *	o1,
		const CollisionObject *	o2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them.

Return value is the minimum distance generated between the two objects.

distance() [2/2]

FCL_REAL hpp::fcl::distance	(	const CollisionGeometry *	o1,
		const Transform3f &	tf1,
		const CollisionGeometry *	o2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them.

Return value is the minimum distance generated between the two objects.

eigen()

template<typename Derived , typename Vector >

void hpp::fcl::eigen	(	const Eigen::MatrixBase< Derived > &	m,
		typename Derived::Scalar	dout[3],
		Vector *	vout
	)

compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors

extract()

CollisionGeometry* hpp::fcl::extract	(	const CollisionGeometry *	model,
		const Transform3f &	pose,
		const AABB &	aabb
	)

fit()

template<typename BV >

void hpp::fcl::fit	(	Vec3f *	ps,
		int	n,
		BV &	bv
	)

Compute a bounding volume that fits a set of n points.

References fit< AABB >(), fit< kIOS >(), fit< OBB >(), fit< OBBRSS >(), and fit< RSS >().

Referenced by computeBV().

fit< AABB >()

template<>

void hpp::fcl::fit< AABB >	(	Vec3f *	ps,
		int	n,
		AABB &	bv
	)

Referenced by fit().

fit< kIOS >()

template<>

void hpp::fcl::fit< kIOS >	(	Vec3f *	ps,
		int	n,
		kIOS &	bv
	)

Referenced by fit().

fit< OBB >()

template<>

void hpp::fcl::fit< OBB >	(	Vec3f *	ps,
		int	n,
		OBB &	bv
	)

Referenced by fit().

fit< OBBRSS >()

template<>

void hpp::fcl::fit< OBBRSS >	(	Vec3f *	ps,
		int	n,
		OBBRSS &	bv
	)

Referenced by fit().

fit< RSS >()

template<>

void hpp::fcl::fit< RSS >	(	Vec3f *	ps,
		int	n,
		RSS &	bv
	)

Referenced by fit().

fromAxisAngle()

template<typename Derived >

Quaternion3f hpp::fcl::fromAxisAngle ( const Eigen::MatrixBase< Derived > &  axis, FCL_REAL  angle  )

inline

generateBVHModel() [1/7]

template<typename BV >

void hpp::fcl::generateBVHModel	(	BVHModel< BV > &	model,
		const Box &	shape,
		const Transform3f &	pose
	)

Generate BVH model from box.

References hpp::fcl::BVHModelBase::addSubModel(), hpp::fcl::BVHModelBase::beginModel(), hpp::fcl::BVHModelBase::computeLocalAABB(), hpp::fcl::BVHModelBase::endModel(), hpp::fcl::Box::halfSide, and hpp::fcl::Transform3f::transform().

Referenced by generateBVHModel().

generateBVHModel() [2/7]

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.

References hpp::fcl::BVHModelBase::addSubModel(), hpp::fcl::BVHModelBase::beginModel(), hpp::fcl::BVHModelBase::computeLocalAABB(), hpp::fcl::BVHModelBase::endModel(), hpp::fcl::Sphere::radius, and hpp::fcl::Transform3f::transform().

generateBVHModel() [3/7]

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

References generateBVHModel(), and hpp::fcl::Sphere::radius.

generateBVHModel() [4/7]

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.

References hpp::fcl::BVHModelBase::addSubModel(), hpp::fcl::BVHModelBase::beginModel(), hpp::fcl::BVHModelBase::computeLocalAABB(), hpp::fcl::BVHModelBase::endModel(), hpp::fcl::Cylinder::halfLength, hpp::fcl::Cylinder::radius, and hpp::fcl::Transform3f::transform().

generateBVHModel() [5/7]

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.

References generateBVHModel(), hpp::fcl::Cylinder::halfLength, and hpp::fcl::Cylinder::radius.

generateBVHModel() [6/7]

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.

References hpp::fcl::BVHModelBase::addSubModel(), hpp::fcl::BVHModelBase::beginModel(), hpp::fcl::BVHModelBase::computeLocalAABB(), hpp::fcl::BVHModelBase::endModel(), hpp::fcl::Cone::halfLength, hpp::fcl::Cone::radius, and hpp::fcl::Transform3f::transform().

generateBVHModel() [7/7]

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.

References generateBVHModel(), hpp::fcl::Cone::halfLength, and hpp::fcl::Cone::radius.

generateCoordinateSystem()

template<typename Derived1 , typename Derived2 , typename Derived3 >

void hpp::fcl::generateCoordinateSystem	(	const Eigen::MatrixBase< Derived1 > &	_w,
		const Eigen::MatrixBase< Derived2 > &	_u,
		const Eigen::MatrixBase< Derived3 > &	_v
	)

getCovariance()

void hpp::fcl::getCovariance	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Matrix3f &	M
	)

Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles.

getExtentAndCenter()

void hpp::fcl::getExtentAndCenter	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		Matrix3f &	axes,
		Vec3f &	center,
		Vec3f &	extent
	)

Compute the bounding volume extent and center for a set or subset of points, given the BV axises.

getRadiusAndOriginAndRectangleSize()

void hpp::fcl::getRadiusAndOriginAndRectangleSize	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Matrix3f &	axes,
		Vec3f &	origin,
		FCL_REAL	l[2],
		FCL_REAL &	r
	)

Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises.

isEqual()

template<typename Derived , typename OtherDerived >

bool hpp::fcl::isEqual	(	const Eigen::MatrixBase< Derived > &	lhs,
		const Eigen::MatrixBase< OtherDerived > &	rhs,
		const FCL_REAL	tol = std::numeric_limits<FCL_REAL>::epsilon()*100
	)

loadPolyhedronFromResource()

template<class BoundingVolume >

void hpp::fcl::loadPolyhedronFromResource ( const std::string &  resource_path, const fcl::Vec3f &  scale, const boost::shared_ptr< BVHModel< BoundingVolume > > &  polyhedron  )

inline

Read a mesh file and convert it to a polyhedral mesh.

Parameters

[in]	resource_path	Path to the ressource mesh file to be read
[in]	scale	Scale to apply when reading the ressource
[out]	polyhedron	The resulted polyhedron

References hpp::fcl::internal::Loader::load(), hpp::fcl::internal::meshFromAssimpScene(), and hpp::fcl::internal::Loader::scene.

maximumDistance()

FCL_REAL hpp::fcl::maximumDistance	(	Vec3f *	ps,
		Vec3f *	ps2,
		Triangle *	ts,
		unsigned int *	indices,
		int	n,
		const Vec3f &	query
	)

Compute the maximum distance from a given center point to a point cloud.

obbDisjointAndLowerBoundDistance()

bool hpp::fcl::obbDisjointAndLowerBoundDistance	(	const Matrix3f &	B,
		const Vec3f &	T,
		const Vec3f &	a,
		const Vec3f &	b,
		const CollisionRequest &	request,
		FCL_REAL &	squaredLowerBoundDistance
	)

operator &()

CollisionRequestFlag hpp::fcl::operator& ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

operator &=()

CollisionRequestFlag& hpp::fcl::operator&= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

operator<<()

static std::ostream& hpp::fcl::operator<< ( std::ostream &  o, const Quaternion3f &  q  )

inlinestatic

operator^()

CollisionRequestFlag hpp::fcl::operator^ ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

operator^=()

CollisionRequestFlag& hpp::fcl::operator^= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

operator|()

CollisionRequestFlag hpp::fcl::operator| ( CollisionRequestFlag  a, CollisionRequestFlag  b  )

inline

operator|=()

CollisionRequestFlag& hpp::fcl::operator|= ( CollisionRequestFlag &  a, CollisionRequestFlag  b  )

inline

operator~()

CollisionRequestFlag hpp::fcl::operator~ ( CollisionRequestFlag  a )

inline

relativeTransform()

template<typename Derived , typename OtherDerived >

void hpp::fcl::relativeTransform	(	const Eigen::MatrixBase< Derived > &	R1,
		const Eigen::MatrixBase< OtherDerived > &	t1,
		const Eigen::MatrixBase< Derived > &	R2,
		const Eigen::MatrixBase< OtherDerived > &	t2,
		const Eigen::MatrixBase< Derived > &	R,
		const Eigen::MatrixBase< OtherDerived > &	t
	)

Referenced by initialize().

transform() [1/2]

Halfspace hpp::fcl::transform	(	const Halfspace &	a,
		const Transform3f &	tf
	)

Referenced by hpp::fcl::details::boxHalfspaceIntersect(), hpp::fcl::details::boxPlaneIntersect(), hpp::fcl::details::capsuleHalfspaceIntersect(), hpp::fcl::details::capsulePlaneIntersect(), computeBV(), hpp::fcl::details::coneHalfspaceIntersect(), hpp::fcl::details::conePlaneIntersect(), hpp::fcl::details::convexHalfspaceIntersect(), hpp::fcl::details::convexPlaneIntersect(), hpp::fcl::details::cylinderHalfspaceIntersect(), hpp::fcl::details::cylinderPlaneIntersect(), hpp::fcl::details::halfspaceIntersect(), hpp::fcl::details::halfspaceTriangleIntersect(), hpp::fcl::details::planeHalfspaceIntersect(), hpp::fcl::details::planeIntersect(), hpp::fcl::details::planeTriangleIntersect(), hpp::fcl::details::sphereHalfspaceIntersect(), and hpp::fcl::details::spherePlaneIntersect().

transform() [2/2]

Plane hpp::fcl::transform	(	const Plane &	a,
		const Transform3f &	tf
	)

triple()

template<typename Derived >

static Derived::Scalar hpp::fcl::triple ( const Eigen::MatrixBase< Derived > &  x, const Eigen::MatrixBase< Derived > &  y, const Eigen::MatrixBase< Derived > &  z  )

inlinestatic

updateFrontList()

void hpp::fcl::updateFrontList ( BVHFrontList *  front_list, int  b1, int  b2  )

inline

Add new front node into the front list.

References hpp::fcl::BVHFrontNode::BVHFrontNode().

Variable Documentation

GST_INDEP

const int hpp::fcl::GST_INDEP = 0