tools.h File Reference

#include <hpp/fcl/deprecated.hh>
#include <hpp/fcl/config.hh>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <cmath>
#include <iostream>
#include <limits>

Include dependency graph for tools.h:

This graph shows which files directly or indirectly include this file:

Namespaces
	hpp
	Main namespace.
	hpp::fcl

Functions
template<typename Derived >
static Derived::Scalar	hpp::fcl::triple (const Eigen::MatrixBase< Derived > &x, const Eigen::MatrixBase< Derived > &y, const Eigen::MatrixBase< Derived > &z)
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)
template<typename Derived , typename OtherDerived >
void	hpp::fcl::hat (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec)
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)
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 More...
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 >
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)
template<typename Derived >
Derived &	hpp::fcl::setEulerZYX (const Eigen::MatrixBase< Derived > &R, FCL_REAL eulerX, FCL_REAL eulerY, FCL_REAL eulerZ)
template<typename Derived >
Derived &	hpp::fcl::setEulerYPR (const Eigen::MatrixBase< Derived > &R, FCL_REAL yaw, FCL_REAL pitch, FCL_REAL roll)