hpp::fcl Namespace Reference

Namespaces
	details
	for OBB and RSS, there is local coordinate of BV, so normal need to be transformed
	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< 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	BVFitterBase
	Interface for fitting a bv given the triangles or points inside it. More...
class	BVHCollisionTraversalNode
	Traversal node for collision between BVH models. More...
class	BVHDistanceTraversalNode
	Traversal node for distance computation between BVH models. 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	BVHShapeCollisionTraversalNode
	Traversal node for collision between BVH and shape. More...
class	BVHShapeDistanceTraversalNode
	Traversal node for distance computation between BVH and shape. 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	BVSplitterBase
	Base interface for BV splitting algorithm. More...
class	CachedMeshLoader
	Class for building polyhedron from files with cache mechanism. More...
class	Capsule
	Center at zero point capsule. 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	CollisionTraversalNodeBase
	Node structure encoding the information required for collision traversal. More...
class	Cone
	Center at zero cone. More...
struct	Contact
	Contact information returned by collision. More...
class	Convex
	Convex polytope. More...
class	Cylinder
	Center at zero cylinder. 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...
class	DistanceTraversalNodeBase
	Node structure encoding the information required for distance traversal. More...
struct	GJKSolver_indep
	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	Intersect
	CCD intersect kernel among primitives. 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	MeshCollisionTraversalNode
	Traversal node for collision between two meshes. More...
class	MeshDistanceTraversalNode
	Traversal node for distance computation between two meshes. More...
class	MeshDistanceTraversalNodekIOS
class	MeshDistanceTraversalNodeOBBRSS
class	MeshDistanceTraversalNodeRSS
	Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS) More...
class	MeshLoader
	Base class for building polyhedron from files. More...
class	MeshOcTreeCollisionTraversalNode
	Traversal node for mesh-octree collision. More...
class	MeshOcTreeDistanceTraversalNode
	Traversal node for mesh-octree distance. More...
class	MeshShapeCollisionTraversalNode
	Traversal node for collision between mesh and shape. More...
class	MeshShapeCollisionTraversalNodekIOS
class	MeshShapeCollisionTraversalNodeOBB
	Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	MeshShapeCollisionTraversalNodeOBBRSS
class	MeshShapeCollisionTraversalNodeRSS
class	MeshShapeDistanceTraversalNode
	Traversal node for distance between mesh and shape. More...
class	MeshShapeDistanceTraversalNodekIOS
class	MeshShapeDistanceTraversalNodeOBBRSS
class	MeshShapeDistanceTraversalNodeRSS
	Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) 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	OcTreeCollisionTraversalNode
	Traversal node for octree collision. More...
class	OcTreeDistanceTraversalNode
	Traversal node for octree distance. More...
class	OcTreeMeshCollisionTraversalNode
	Traversal node for octree-mesh collision. More...
class	OcTreeMeshDistanceTraversalNode
	Traversal node for octree-mesh distance. More...
class	OcTreeShapeCollisionTraversalNode
	Traversal node for octree-shape collision. More...
class	OcTreeShapeDistanceTraversalNode
	Traversal node for octree-shape distance. More...
class	OcTreeSolver
	Algorithms for collision related with octree. More...
class	Plane
	Infinite plane. More...
class	PolySolver
	A class solves polynomial degree (1,2,3) equations. More...
class	Project
	Project functions. More...
class	RSS
	A class for rectangle sphere-swept bounding volume. More...
class	ShapeBase
	Base class for all basic geometric shapes. More...
class	ShapeBVHCollisionTraversalNode
	Traversal node for collision between shape and BVH. More...
class	ShapeBVHDistanceTraversalNode
	Traversal node for distance computation between shape and BVH. More...
class	ShapeCollisionTraversalNode
	Traversal node for collision between two shapes. More...
class	ShapeDistanceTraversalNode
	Traversal node for distance between two shapes. More...
class	ShapeMeshCollisionTraversalNode
	Traversal node for collision between shape and mesh. More...
class	ShapeMeshCollisionTraversalNodekIOS
class	ShapeMeshCollisionTraversalNodeOBB
	Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
class	ShapeMeshCollisionTraversalNodeOBBRSS
class	ShapeMeshCollisionTraversalNodeRSS
class	ShapeMeshDistanceTraversalNode
	Traversal node for distance between shape and mesh. More...
class	ShapeMeshDistanceTraversalNodekIOS
class	ShapeMeshDistanceTraversalNodeOBBRSS
class	ShapeMeshDistanceTraversalNodeRSS
class	ShapeOcTreeCollisionTraversalNode
	Traversal node for shape-octree collision. More...
class	ShapeOcTreeDistanceTraversalNode
	Traversal node for shape-octree distance. More...
class	Sphere
	Center at zero point sphere. More...
class	Transform3f
	Simple transform class used locally by InterpMotion. More...
class	TraversalNodeBase
	Node structure encoding the information required for traversal. More...
class	Triangle
	Triangle with 3 indices for points. More...
struct	TriangleAndVertices
class	TriangleDistance
	Triangle distance functions. More...
class	TriangleP
	Triangle stores the points instead of only indices of points. More...
class	Variance3f
	Class for variance matrix in 3d. 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 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 Eigen::Matrix< FCL_REAL, 3, 3 >	Matrix3f
typedef Eigen::Quaternion< FCL_REAL >	Quaternion3f
typedef Eigen::Matrix< FCL_REAL, 3, 1 >	Vec3f
typedef MeshCollisionTraversalNode< OBB, 0 >	MeshCollisionTraversalNodeOBB
	Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) More...
typedef MeshCollisionTraversalNode< RSS, 0 >	MeshCollisionTraversalNodeRSS
typedef MeshCollisionTraversalNode< kIOS, 0 >	MeshCollisionTraversalNodekIOS
typedef MeshCollisionTraversalNode< OBBRSS, 0 >	MeshCollisionTraversalNodeOBBRSS

Enumerations
enum	SplitMethodType {   SPLIT_METHOD_MEAN,   SPLIT_METHOD_MEDIAN,   SPLIT_METHOD_BV_CENTER }
	Three types of split algorithms are provided in FCL as default. More...
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	GJKSolverType { GST_INDEP }
	Type of narrow phase GJK solver. 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	{ RelativeTransformationIsIdentity = 1 }

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 &t)
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<size_t N>
bool	overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &)
template<size_t N>
bool	overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, FCL_REAL &)
template<size_t 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...
OBBRSS	translate (const OBBRSS &bv, const Vec3f &t)
	Translate the OBBRSS bv. 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...
RSS	translate (const RSS &bv, const Vec3f &t)
	Translate the RSS bv. 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...
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)
void	updateFrontList (BVHFrontList *front_list, int b1, int b2)
	Add new front node into the front list. More...
template<typename BV >
void	BVHExpand (BVHModel< BV > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node. More...
void	BVHExpand (BVHModel< OBB > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the corresponding variance information, for OBB. More...
void	BVHExpand (BVHModel< RSS > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the corresponding variance information, for RSS. 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)
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)
void	collide (CollisionTraversalNodeBase *node, const CollisionRequest &request, CollisionResult &result, BVHFrontList *front_list=NULL)
	collision on collision traversal node More...
void	distance (DistanceTraversalNodeBase *node, BVHFrontList *front_list=NULL, int qsize=2)
	distance computation on distance traversal node; can use front list to accelerate More...
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)
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	hat (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec)
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 >
Derived::Scalar	quadraticForm (const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &v)
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)
template<typename Derived >
Derived &	setEulerZYX (const Eigen::MatrixBase< Derived > &R, FCL_REAL eulerX, FCL_REAL eulerY, FCL_REAL eulerZ)
template<typename Derived >
Derived &	setEulerYPR (const Eigen::MatrixBase< Derived > &R, FCL_REAL yaw, FCL_REAL pitch, FCL_REAL roll)
static std::ostream &	operator<< (std::ostream &o, const Quaternion3f &q)
bool	isQuatIdentity (const Quaternion3f &q)
bool	areQuatEquals (const Quaternion3f &q1, const Quaternion3f &q2)
Transform3f	inverse (const Transform3f &tf)
	inverse the transform More...
void	relativeTransform (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf)
	compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1) More...
void	relativeTransform2 (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf)
	compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system) More...
unsigned	buildMesh (const fcl::Vec3f &scale, const aiScene *scene, const aiNode *node, unsigned vertices_offset, TriangleAndVertices &tv)
	Recursive procedure for building a mesh. More...
template<class BoundingVolume >
void	meshFromAssimpScene (const std::string &name, const fcl::Vec3f &scale, const aiScene *scene, const boost::shared_ptr< BVHModel< BoundingVolume > > &mesh) throw (std::invalid_argument)
	Convert an assimp scene to a mesh. More...
template<class BoundingVolume >
void	loadPolyhedronFromResource (const std::string &resource_path, const fcl::Vec3f &scale, const boost::shared_ptr< BVHModel< BoundingVolume > > &polyhedron) throw (std::invalid_argument)
	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, Convex > (const Convex &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, Convex > (const Convex &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)
template<typename S1 , typename S2 , typename NarrowPhaseSolver >
bool	initialize (ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize traversal node for collision between two geometric shapes, given current object transform. More...
template<typename BV , typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between one mesh and one shape, given current object transform. More...
template<typename S , typename BV , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between one mesh and one shape, given current object transform. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &node, const BVHModel< OBB > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBB > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, CollisionResult &result)
	Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. More...
template<typename BV >
bool	initialize (MeshCollisionTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for collision between two meshes, given the current transforms. More...
bool	initialize (MeshCollisionTraversalNodeOBB &node, const BVHModel< OBB > &model1, const Transform3f &tf1, const BVHModel< OBB > &model2, const Transform3f &tf2, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for OBB type. More...
bool	initialize (MeshCollisionTraversalNodeRSS &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for RSS type. More...
bool	initialize (MeshCollisionTraversalNodeOBBRSS &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for OBBRSS type. More...
bool	initialize (MeshCollisionTraversalNodekIOS &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, CollisionResult &result)
	Initialize traversal node for collision between two meshes, specialized for kIOS type. More...
template<typename S1 , typename S2 , typename NarrowPhaseSolver >
bool	initialize (ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance between two geometric shapes. More...
template<typename BV >
bool	initialize (MeshDistanceTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between two meshes, given the current transforms. More...
bool	initialize (MeshDistanceTraversalNodeRSS &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between two meshes, specialized for RSS type. More...
bool	initialize (MeshDistanceTraversalNodekIOS &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between two meshes, specialized for kIOS type. More...
bool	initialize (MeshDistanceTraversalNodeOBBRSS &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type. More...
template<typename BV , typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between one mesh and one shape, given the current transforms. More...
template<typename S , typename BV , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
	Initialize traversal node for distance computation between one shape and one mesh, given the current transforms. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type. More...
template<typename S , typename NarrowPhaseSolver >
bool	initialize (ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
	Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type. More...
void	collisionRecurse (CollisionTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list, FCL_REAL &sqrDistLowerBound)
	Recurse function for collision. More...
void	collisionRecurse (MeshCollisionTraversalNodeOBB *node, int b1, int b2, const Matrix3f &R, const Vec3f &T, BVHFrontList *front_list)
	Recurse function for collision, specialized for OBB type. More...
void	collisionRecurse (MeshCollisionTraversalNodeRSS *node, int b1, int b2, const Matrix3f &R, const Vec3f &T, BVHFrontList *front_list)
	Recurse function for collision, specialized for RSS type. More...
void	distanceRecurse (DistanceTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list)
	Recurse function for distance. More...
void	distanceQueueRecurse (DistanceTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list, int qsize)
	Recurse function for distance, using queue acceleration. More...
void	propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase *node, const CollisionRequest &request, CollisionResult &result, BVHFrontList *front_list)
	Recurse function for front list propagation. More...
bool	obbDisjointAndLowerBoundDistance (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const CollisionRequest &request, FCL_REAL &squaredLowerBoundDistance)
template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >
FCL_REAL	ShapeShapeDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >
std::size_t	ShapeShapeCollide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result)

Typedef Documentation

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

BVH front list is a list of front nodes.

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

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

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

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

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

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

typedef double hpp::fcl::FCL_REAL

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

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

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

typedef MeshCollisionTraversalNode<kIOS , 0> hpp::fcl::MeshCollisionTraversalNodekIOS

typedef MeshCollisionTraversalNode<OBB , 0> hpp::fcl::MeshCollisionTraversalNodeOBB

Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS)

typedef MeshCollisionTraversalNode<OBBRSS, 0> hpp::fcl::MeshCollisionTraversalNodeOBBRSS

typedef MeshCollisionTraversalNode<RSS , 0> hpp::fcl::MeshCollisionTraversalNodeRSS

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

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

Enumeration Type Documentation

anonymous enum

Enumerator
RelativeTransformationIsIdentity

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

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

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.

enum hpp::fcl::CollisionRequestFlag

flag declaration for specifying required params in CollisionResult

Enumerator
CONTACT
DISTANCE_LOWER_BOUND
NO_REQUEST

enum hpp::fcl::GJKSolverType

Type of narrow phase GJK solver.

Enumerator
GST_INDEP

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

enum hpp::fcl::OBJECT_TYPE

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

Enumerator
OT_UNKNOWN
OT_BVH
OT_GEOM
OT_OCTREE
OT_COUNT

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

bool hpp::fcl::areQuatEquals ( const Quaternion3f &  q1, const Quaternion3f &  q2  )

inline

Referenced by hpp::fcl::Transform3f::operator==().

unsigned hpp::fcl::buildMesh	(	const fcl::Vec3f &	scale,
		const aiScene *	scene,
		const aiNode *	node,
		unsigned	vertices_offset,
		TriangleAndVertices &	tv
	)

Recursive procedure for building a mesh.

Parameters

[in]	scale	Scale to apply when reading the ressource
[in]	scene	Pointer to the assimp scene
[in]	node	Current node of the scene
[in]	vertices_offset	Current number of vertices in the model
	tv	Triangles and Vertices of the mesh submodels

Referenced by meshFromAssimpScene().

template<typename BV >

void hpp::fcl::BVHExpand	(	BVHModel< BV > &	model,
		const Variance3f *	ucs,
		FCL_REAL	r
	)

Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node.

References hpp::fcl::Variance3f::axis, hpp::fcl::BVNode< BV >::bv, BVHExtract(), circumCircleComputation(), hpp::fcl::BVNodeBase::first_primitive, hpp::fcl::BVHModel< BV >::getBV(), getCovariance(), getExtentAndCenter(), getRadiusAndOriginAndRectangleSize(), maximumDistance(), hpp::fcl::BVNodeBase::num_primitives, hpp::fcl::Variance3f::sigma, and hpp::fcl::BVHModel< BV >::vertices.

void hpp::fcl::BVHExpand	(	BVHModel< OBB > &	model,
		const Variance3f *	ucs,
		FCL_REAL	r
	)

Expand the BVH bounding boxes according to the corresponding variance information, for OBB.

void hpp::fcl::BVHExpand	(	BVHModel< RSS > &	model,
		const Variance3f *	ucs,
		FCL_REAL	r
	)

Expand the BVH bounding boxes according to the corresponding variance information, for RSS.

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.

Referenced by BVHExpand().

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.

Referenced by BVHExpand().

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.

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

void hpp::fcl::collide	(	CollisionTraversalNodeBase *	node,
		const CollisionRequest &	request,
		CollisionResult &	result,
		BVHFrontList *	front_list = NULL
	)

collision on collision traversal node

Parameters

node	node containing both objects to test,

Return values

squared

lower bound to the distance between the objects if they do not collide.

Parameters

front_list

list of nodes visited by the query, can be used to accelerate computation

void hpp::fcl::collisionRecurse	(	CollisionTraversalNodeBase *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list,
		FCL_REAL &	sqrDistLowerBound
	)

Recurse function for collision.

Parameters

node	collision node,
b1,b2	ids of bounding volume nodes for object 1 and object 2

Return values

sqrDistLowerBound

squared lower bound on distance between objects.

void hpp::fcl::collisionRecurse	(	MeshCollisionTraversalNodeOBB *	node,
		int	b1,
		int	b2,
		const Matrix3f &	R,
		const Vec3f &	T,
		BVHFrontList *	front_list
	)

Recurse function for collision, specialized for OBB type.

void hpp::fcl::collisionRecurse	(	MeshCollisionTraversalNodeRSS *	node,
		int	b1,
		int	b2,
		const Matrix3f &	R,
		const Vec3f &	T,
		BVHFrontList *	front_list
	)

Recurse function for collision, specialized for RSS type.

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, Convex >(), 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, Convex >(), 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 hpp::fcl::details::setupShapeMeshDistanceOrientedNode().

template<>

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

Referenced by computeBV(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

template<>

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

template<>

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

template<>

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

template<>

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

template<>

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

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

template<>

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

Referenced by computeBV().

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_.

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

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(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

Referenced by hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersect(), hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeIntersect().

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.

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

void hpp::fcl::distance	(	DistanceTraversalNodeBase *	node,
		BVHFrontList *	front_list = NULL,
		int	qsize = 2
	)

distance computation on distance traversal node; can use front list to accelerate

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)

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

Referenced by hpp::fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), hpp::fcl::details::capsuleHalfspaceIntersect(), hpp::fcl::details::coneHalfspaceIntersect(), hpp::fcl::details::cylinderHalfspaceIntersect(), hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting(), hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::leafTesting(), hpp::fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance(), hpp::fcl::details::sphereCapsuleIntersect(), and hpp::fcl::DistanceResult::update().

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.

void hpp::fcl::distanceQueueRecurse	(	DistanceTraversalNodeBase *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list,
		int	qsize
	)

Recurse function for distance, using queue acceleration.

void hpp::fcl::distanceRecurse	(	DistanceTraversalNodeBase *	node,
		int	b1,
		int	b2,
		BVHFrontList *	front_list
	)

Recurse function for distance.

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

Referenced by hpp::fcl::Variance3f::init().

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

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

Referenced by computeBV().

template<>

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

Referenced by fit().

template<>

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

Referenced by fit().

template<>

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

Referenced by fit().

template<>

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

Referenced by fit().

template<typename BV >

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

Generate BVH model from box.

References hpp::fcl::BVHModel< BV >::addSubModel(), hpp::fcl::BVHModel< BV >::beginModel(), hpp::fcl::BVHModel< BV >::computeLocalAABB(), hpp::fcl::BVHModel< BV >::endModel(), hpp::fcl::Box::side, and hpp::fcl::Transform3f::transform().

Referenced by generateBVHModel().

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::BVHModel< BV >::addSubModel(), hpp::fcl::BVHModel< BV >::beginModel(), hpp::fcl::BVHModel< BV >::computeLocalAABB(), hpp::fcl::BVHModel< BV >::endModel(), hpp::fcl::Sphere::radius, and hpp::fcl::Transform3f::transform().

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.

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::BVHModel< BV >::addSubModel(), hpp::fcl::BVHModel< BV >::beginModel(), hpp::fcl::BVHModel< BV >::computeLocalAABB(), hpp::fcl::BVHModel< BV >::endModel(), hpp::fcl::Cylinder::lz, hpp::fcl::Cylinder::radius, and hpp::fcl::Transform3f::transform().

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::lz, and hpp::fcl::Cylinder::radius.

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::BVHModel< BV >::addSubModel(), hpp::fcl::BVHModel< BV >::beginModel(), hpp::fcl::BVHModel< BV >::computeLocalAABB(), hpp::fcl::BVHModel< BV >::endModel(), hpp::fcl::Cone::lz, hpp::fcl::Cone::radius, and hpp::fcl::Transform3f::transform().

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::lz, and hpp::fcl::Cone::radius.

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
	)

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.

Referenced by BVHExpand().

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.

Referenced by BVHExpand().

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.

Referenced by BVHExpand().

template<typename Derived , typename OtherDerived >

void hpp::fcl::hat	(	const Eigen::MatrixBase< Derived > &	mat,
		const Eigen::MatrixBase< OtherDerived > &	vec
	)

template<typename S1 , typename S2 , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver > &	node,
		const S1 &	shape1,
		const Transform3f &	tf1,
		const S2 &	shape2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize traversal node for collision between two geometric shapes, given current object transform.

References hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, hpp::fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, hpp::fcl::CollisionTraversalNodeBase::result, hpp::fcl::TraversalNodeBase::tf1, and hpp::fcl::TraversalNodeBase::tf2.

Referenced by hpp::fcl::details::EPA::EPA(), hpp::fcl::details::GJK::GJK(), initialize(), and hpp::fcl::details::EPA::~EPA().

template<typename BV , typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for collision between one mesh and one shape, given current object transform.

References hpp::fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), hpp::fcl::BVHModel< BV >::endReplaceModel(), hpp::fcl::BVHModel< BV >::getModelType(), hpp::fcl::Transform3f::isIdentity(), hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model1, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model2, hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >::model2_bv, hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::nsolver, hpp::fcl::BVHModel< BV >::num_vertices, hpp::fcl::BVHModel< BV >::replaceSubModel(), hpp::fcl::CollisionTraversalNodeBase::result, hpp::fcl::Transform3f::setIdentity(), hpp::fcl::TraversalNodeBase::tf1, hpp::fcl::TraversalNodeBase::tf2, hpp::fcl::Transform3f::transform(), hpp::fcl::BVHModel< BV >::tri_indices, hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::tri_indices, hpp::fcl::BVHModel< BV >::vertices, and hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::vertices.

template<typename S , typename BV , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for collision between one mesh and one shape, given current object transform.

References hpp::fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), hpp::fcl::BVHModel< BV >::endReplaceModel(), hpp::fcl::BVHModel< BV >::getModelType(), hpp::fcl::Transform3f::isIdentity(), hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1, hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1_bv, hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >::model2, hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >::nsolver, hpp::fcl::BVHModel< BV >::num_vertices, hpp::fcl::BVHModel< BV >::replaceSubModel(), hpp::fcl::CollisionTraversalNodeBase::result, hpp::fcl::Transform3f::setIdentity(), hpp::fcl::TraversalNodeBase::tf1, hpp::fcl::TraversalNodeBase::tf2, hpp::fcl::Transform3f::transform(), hpp::fcl::BVHModel< BV >::tri_indices, hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >::tri_indices, hpp::fcl::BVHModel< BV >::vertices, and hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >::vertices.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &	node,
		const BVHModel< OBB > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type.

References BVH_MODEL_TRIANGLES, computeBV(), hpp::fcl::BVHModel< BV >::getModelType(), hpp::fcl::BVHModel< BV >::tri_indices, and hpp::fcl::BVHModel< BV >::vertices.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBB > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		CollisionResult &	result
	)

Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type.

template<typename BV >

bool hpp::fcl::initialize	(	MeshCollisionTraversalNode< BV > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		CollisionResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for collision between two meshes, given the current transforms.

References hpp::fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, hpp::fcl::BVHModel< BV >::endReplaceModel(), hpp::fcl::BVHModel< BV >::getModelType(), initialize(), hpp::fcl::Transform3f::isIdentity(), hpp::fcl::BVHCollisionTraversalNode< BV >::model1, hpp::fcl::BVHCollisionTraversalNode< BV >::model2, hpp::fcl::BVHModel< BV >::num_vertices, hpp::fcl::BVHModel< BV >::replaceSubModel(), hpp::fcl::CollisionTraversalNodeBase::result, hpp::fcl::Transform3f::setIdentity(), hpp::fcl::TraversalNodeBase::tf1, hpp::fcl::TraversalNodeBase::tf2, hpp::fcl::Transform3f::transform(), hpp::fcl::BVHModel< BV >::tri_indices, hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::tri_indices1, hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::tri_indices2, hpp::fcl::BVHModel< BV >::vertices, hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::vertices1, and hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::vertices2.

bool hpp::fcl::initialize	(	MeshCollisionTraversalNodeOBB &	node,
		const BVHModel< OBB > &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBB > &	model2,
		const Transform3f &	tf2,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for OBB type.

bool hpp::fcl::initialize	(	MeshCollisionTraversalNodeRSS &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for RSS type.

bool hpp::fcl::initialize	(	MeshCollisionTraversalNodeOBBRSS &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for OBBRSS type.

bool hpp::fcl::initialize	(	MeshCollisionTraversalNodekIOS &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		CollisionResult &	result
	)

Initialize traversal node for collision between two meshes, specialized for kIOS type.

template<typename S1 , typename S2 , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > &	node,
		const S1 &	shape1,
		const Transform3f &	tf1,
		const S2 &	shape2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance between two geometric shapes.

References hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model1, hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model2, hpp::fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, hpp::fcl::DistanceTraversalNodeBase::request, hpp::fcl::DistanceTraversalNodeBase::result, hpp::fcl::TraversalNodeBase::tf1, and hpp::fcl::TraversalNodeBase::tf2.

template<typename BV >

bool hpp::fcl::initialize	(	MeshDistanceTraversalNode< BV > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for distance computation between two meshes, given the current transforms.

References hpp::fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, hpp::fcl::BVHModel< BV >::endReplaceModel(), hpp::fcl::BVHModel< BV >::getModelType(), initialize(), hpp::fcl::Transform3f::isIdentity(), hpp::fcl::BVHDistanceTraversalNode< BV >::model1, hpp::fcl::BVHDistanceTraversalNode< BV >::model2, hpp::fcl::BVHModel< BV >::num_vertices, hpp::fcl::BVHModel< BV >::replaceSubModel(), hpp::fcl::DistanceTraversalNodeBase::request, hpp::fcl::DistanceTraversalNodeBase::result, hpp::fcl::Transform3f::setIdentity(), hpp::fcl::TraversalNodeBase::tf1, hpp::fcl::TraversalNodeBase::tf2, hpp::fcl::Transform3f::transform(), hpp::fcl::BVHModel< BV >::tri_indices, hpp::fcl::MeshDistanceTraversalNode< BV >::tri_indices1, hpp::fcl::MeshDistanceTraversalNode< BV >::tri_indices2, hpp::fcl::BVHModel< BV >::vertices, hpp::fcl::MeshDistanceTraversalNode< BV >::vertices1, and hpp::fcl::MeshDistanceTraversalNode< BV >::vertices2.

bool hpp::fcl::initialize	(	MeshDistanceTraversalNodeRSS &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between two meshes, specialized for RSS type.

bool hpp::fcl::initialize	(	MeshDistanceTraversalNodekIOS &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between two meshes, specialized for kIOS type.

bool hpp::fcl::initialize	(	MeshDistanceTraversalNodeOBBRSS &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type.

template<typename BV , typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver > &	node,
		BVHModel< BV > &	model1,
		Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for distance computation between one mesh and one shape, given the current transforms.

References hpp::fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), hpp::fcl::BVHModel< BV >::endReplaceModel(), hpp::fcl::BVHModel< BV >::getModelType(), hpp::fcl::Transform3f::isIdentity(), hpp::fcl::BVHShapeDistanceTraversalNode< BV, S >::model1, hpp::fcl::BVHShapeDistanceTraversalNode< BV, S >::model2, hpp::fcl::BVHShapeDistanceTraversalNode< BV, S >::model2_bv, hpp::fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::nsolver, hpp::fcl::BVHModel< BV >::num_vertices, hpp::fcl::BVHModel< BV >::replaceSubModel(), hpp::fcl::DistanceTraversalNodeBase::request, hpp::fcl::DistanceTraversalNodeBase::result, hpp::fcl::Transform3f::setIdentity(), hpp::fcl::TraversalNodeBase::tf1, hpp::fcl::TraversalNodeBase::tf2, hpp::fcl::Transform3f::transform(), hpp::fcl::BVHModel< BV >::tri_indices, hpp::fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::tri_indices, hpp::fcl::BVHModel< BV >::vertices, and hpp::fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::vertices.

template<typename S , typename BV , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		BVHModel< BV > &	model2,
		Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result,
		bool	use_refit = false,
		bool	refit_bottomup = false
	)

Initialize traversal node for distance computation between one shape and one mesh, given the current transforms.

References hpp::fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), hpp::fcl::BVHModel< BV >::endReplaceModel(), hpp::fcl::BVHModel< BV >::getModelType(), hpp::fcl::Transform3f::isIdentity(), hpp::fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1, hpp::fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1_bv, hpp::fcl::ShapeBVHDistanceTraversalNode< S, BV >::model2, hpp::fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::nsolver, hpp::fcl::BVHModel< BV >::num_vertices, hpp::fcl::BVHModel< BV >::replaceSubModel(), hpp::fcl::DistanceTraversalNodeBase::request, hpp::fcl::DistanceTraversalNodeBase::result, hpp::fcl::Transform3f::setIdentity(), hpp::fcl::TraversalNodeBase::tf1, hpp::fcl::TraversalNodeBase::tf2, hpp::fcl::Transform3f::transform(), hpp::fcl::BVHModel< BV >::tri_indices, hpp::fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices, hpp::fcl::BVHModel< BV >::vertices, and hpp::fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::vertices.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< RSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const BVHModel< kIOS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const BVHModel< OBBRSS > &	model1,
		const Transform3f &	tf1,
		const S &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type.

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< RSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type.

References hpp::fcl::details::setupShapeMeshDistanceOrientedNode().

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< kIOS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type.

References hpp::fcl::details::setupShapeMeshDistanceOrientedNode().

template<typename S , typename NarrowPhaseSolver >

bool hpp::fcl::initialize	(	ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &	node,
		const S &	model1,
		const Transform3f &	tf1,
		const BVHModel< OBBRSS > &	model2,
		const Transform3f &	tf2,
		const NarrowPhaseSolver *	nsolver,
		const DistanceRequest &	request,
		DistanceResult &	result
	)

Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type.

References hpp::fcl::details::setupShapeMeshDistanceOrientedNode().

Transform3f hpp::fcl::inverse

(

const Transform3f &

tf

)

inverse the transform

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
	)

Referenced by hpp::fcl::AABB::equal().

bool hpp::fcl::isQuatIdentity ( const Quaternion3f &  q )

inline

Referenced by hpp::fcl::CollisionObject::computeAABB(), and hpp::fcl::Transform3f::isIdentity().

template<class BoundingVolume >

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

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 meshFromAssimpScene().

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.

Referenced by BVHExpand().

template<class BoundingVolume >

void hpp::fcl::meshFromAssimpScene ( const std::string &  name, const fcl::Vec3f &  scale, const aiScene *  scene, const boost::shared_ptr< BVHModel< BoundingVolume > > &  mesh  ) throw ( std::invalid_argument )

inline

Convert an assimp scene to a mesh.

Parameters

[in]	name	File (ressource) transformed into an assimp scene in loa
[in]	scale	Scale to apply when reading the ressource
[in]	scene	Pointer to the assimp scene
[out]	mesh	The mesh that must be built

References buildMesh(), BVH_OK, hpp::fcl::TriangleAndVertices::triangles_, and hpp::fcl::TriangleAndVertices::vertices_.

Referenced by loadPolyhedronFromResource().

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.

Referenced by hpp::fcl::OBB::center().

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

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

inline

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

inline

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

inlinestatic

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

inline

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

inline

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

inline

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

inline

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

inline

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.

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.

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.

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

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.

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.

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

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

Check collision between two OBBRSS.

Parameters

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

Return values

squared

lower bound on the distance if OBBRSS do not overlap.

template<size_t N>

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

template<size_t N>

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

References translate().

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.

Referenced by hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::BVTesting(), hpp::fcl::MeshShapeCollisionTraversalNode< kIOS, S, NarrowPhaseSolver, 0 >::BVTesting(), and hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 >::BVTesting().

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.

void hpp::fcl::propagateBVHFrontListCollisionRecurse	(	CollisionTraversalNodeBase *	node,
		const CollisionRequest &	request,
		CollisionResult &	result,
		BVHFrontList *	front_list
	)

Recurse function for front list propagation.

template<typename Derived , typename OtherDerived >

Derived::Scalar hpp::fcl::quadraticForm	(	const Eigen::MatrixBase< Derived > &	R,
		const Eigen::MatrixBase< OtherDerived > &	v
	)

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 hpp::fcl::Transform3f::operator!=().

void hpp::fcl::relativeTransform	(	const Transform3f &	tf1,
		const Transform3f &	tf2,
		Transform3f &	tf
	)

compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1)

void hpp::fcl::relativeTransform2	(	const Transform3f &	tf1,
		const Transform3f &	tf2,
		Transform3f &	tf
	)

compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system)

Referenced by hpp::fcl::Transform3f::operator!=().

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

inlinestatic

References hpp::fcl::AABB::max_, hpp::fcl::AABB::min_, and hpp::fcl::AABB::overlap().

template<typename Derived >

Derived& hpp::fcl::setEulerYPR ( const Eigen::MatrixBase< Derived > &  R, FCL_REAL  yaw, FCL_REAL  pitch, FCL_REAL  roll  )

inline

References setEulerZYX().

template<typename Derived >

Derived& hpp::fcl::setEulerZYX ( const Eigen::MatrixBase< Derived > &  R, FCL_REAL  eulerX, FCL_REAL  eulerY, FCL_REAL  eulerZ  )

inline

Referenced by setEulerYPR().

template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >

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

template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver >

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

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().

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

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

Translate the OBB bv.

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

Translate the RSS bv.

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

Translate the kIOS BV.

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

Translate the OBBRSS bv.

template<size_t N>

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

translate the KDOP BV

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

inlinestatic

translate the center of AABB by t

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

Referenced by hpp::fcl::kIOS::center(), hpp::fcl::OBB::center(), hpp::fcl::RSS::center(), hpp::fcl::CollisionObject::computeAABB(), hpp::fcl::OBBRSS::distance(), and overlap().

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

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().