hpp-fcl Documentation

Introduction

hpp-fcl is a modified version the FCL libraries.

It is a library for collision detection and distance computation between various types of geometric shapes reprensented either by

• basic shapes (hpp::fcl::ShapeBase) like box, sphere, cylinders, ...
• or by bounding volume hierarchies of various types (hpp::fcl::BVHModel)

Using hpp-fcl

The main entry points to the library are functions

• hpp::fcl::collide and
• hpp::fcl::distance.