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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jia Pan */ |
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#include <hpp/fcl/distance.h> |
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#include <hpp/fcl/collision_utility.h> |
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#include <hpp/fcl/distance_func_matrix.h> |
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#include <hpp/fcl/narrowphase/narrowphase.h> |
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#include <iostream> |
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namespace hpp { |
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namespace fcl { |
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DistanceFunctionMatrix& getDistanceFunctionLookTable() { |
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✓✓✓✗ ✓✗✗✗
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static DistanceFunctionMatrix table; |
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return table; |
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} |
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FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, |
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const DistanceRequest& request, DistanceResult& result) { |
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return distance(o1->collisionGeometryPtr(), o1->getTransform(), |
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o2->collisionGeometryPtr(), o2->getTransform(), request, |
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result); |
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} |
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FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, |
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const CollisionGeometry* o2, const Transform3f& tf2, |
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const DistanceRequest& request, DistanceResult& result) { |
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✓✗ |
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GJKSolver solver(request); |
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✓✗ |
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const DistanceFunctionMatrix& looktable = getDistanceFunctionLookTable(); |
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✓✗ |
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OBJECT_TYPE object_type1 = o1->getObjectType(); |
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✓✗ |
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NODE_TYPE node_type1 = o1->getNodeType(); |
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✓✗ |
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OBJECT_TYPE object_type2 = o2->getObjectType(); |
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✓✗ |
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NODE_TYPE node_type2 = o2->getNodeType(); |
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FCL_REAL res = (std::numeric_limits<FCL_REAL>::max)(); |
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✓✓✓✗
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if (object_type1 == OT_GEOM && |
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✗✓ |
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(object_type2 == OT_BVH || object_type2 == OT_HFIELD)) { |
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if (!looktable.distance_matrix[node_type2][node_type1]) { |
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HPP_FCL_THROW_PRETTY("Distance function between node type " |
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<< std::string(get_node_type_name(node_type1)) |
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<< " and node type " |
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<< std::string(get_node_type_name(node_type2)) |
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<< " is not yet supported.", |
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std::invalid_argument); |
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} else { |
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res = looktable.distance_matrix[node_type2][node_type1]( |
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o2, tf2, o1, tf1, &solver, request, result); |
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// If closest points are requested, switch object 1 and 2 |
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if (request.enable_nearest_points) { |
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const CollisionGeometry* tmpo = result.o1; |
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result.o1 = result.o2; |
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result.o2 = tmpo; |
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Vec3f tmpn(result.nearest_points[0]); |
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result.nearest_points[0] = result.nearest_points[1]; |
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result.nearest_points[1] = tmpn; |
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} |
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} |
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} else { |
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✗✓ |
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if (!looktable.distance_matrix[node_type1][node_type2]) { |
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HPP_FCL_THROW_PRETTY("Distance function between node type " |
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<< std::string(get_node_type_name(node_type1)) |
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<< " and node type " |
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<< std::string(get_node_type_name(node_type2)) |
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<< " is not yet supported.", |
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std::invalid_argument); |
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} else { |
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✓✗ |
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res = looktable.distance_matrix[node_type1][node_type2]( |
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o1, tf1, o2, tf2, &solver, request, result); |
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} |
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} |
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✓✗ |
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if (solver.gjk_initial_guess == GJKInitialGuess::CachedGuess || |
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✗✓ |
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solver.enable_cached_guess) { |
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result.cached_gjk_guess = solver.cached_guess; |
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result.cached_support_func_guess = solver.support_func_cached_guess; |
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} |
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return res; |
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} |
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ComputeDistance::ComputeDistance(const CollisionGeometry* o1, |
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const CollisionGeometry* o2) |
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: o1(o1), o2(o2) { |
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const DistanceFunctionMatrix& looktable = getDistanceFunctionLookTable(); |
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OBJECT_TYPE object_type1 = o1->getObjectType(); |
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NODE_TYPE node_type1 = o1->getNodeType(); |
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OBJECT_TYPE object_type2 = o2->getObjectType(); |
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NODE_TYPE node_type2 = o2->getNodeType(); |
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swap_geoms = object_type1 == OT_GEOM && |
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(object_type2 == OT_BVH || object_type2 == OT_HFIELD); |
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if ((swap_geoms && !looktable.distance_matrix[node_type2][node_type1]) || |
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(!swap_geoms && !looktable.distance_matrix[node_type1][node_type2])) { |
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HPP_FCL_THROW_PRETTY("Distance function between node type " |
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<< std::string(get_node_type_name(node_type1)) |
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<< " and node type " |
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<< std::string(get_node_type_name(node_type2)) |
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<< " is not yet supported.", |
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std::invalid_argument); |
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} |
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if (swap_geoms) |
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func = looktable.distance_matrix[node_type2][node_type1]; |
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else |
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func = looktable.distance_matrix[node_type1][node_type2]; |
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} |
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FCL_REAL ComputeDistance::run(const Transform3f& tf1, const Transform3f& tf2, |
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const DistanceRequest& request, |
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DistanceResult& result) const { |
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FCL_REAL res; |
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if (swap_geoms) { |
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res = func(o2, tf2, o1, tf1, &solver, request, result); |
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if (request.enable_nearest_points) { |
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std::swap(result.o1, result.o2); |
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result.nearest_points[0].swap(result.nearest_points[1]); |
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} |
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} else { |
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res = func(o1, tf1, o2, tf2, &solver, request, result); |
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} |
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return res; |
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} |
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FCL_REAL ComputeDistance::operator()(const Transform3f& tf1, |
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const Transform3f& tf2, |
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const DistanceRequest& request, |
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DistanceResult& result) const { |
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solver.set(request); |
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FCL_REAL res; |
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if (request.enable_timings) { |
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Timer timer; |
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res = run(tf1, tf2, request, result); |
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result.timings = timer.elapsed(); |
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} else |
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res = run(tf1, tf2, request, result); |
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if (solver.gjk_initial_guess == GJKInitialGuess::CachedGuess || |
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solver.enable_cached_guess) { |
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result.cached_gjk_guess = solver.cached_guess; |
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result.cached_support_func_guess = solver.support_func_cached_guess; |
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} |
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return res; |
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} |
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} // namespace fcl |
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} // namespace hpp |