hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
BVH_utility.h File Reference
Include dependency graph for BVH_utility.h:

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Namespaces

 hpp
 Main namespace.
 
 hpp::fcl
 

Functions

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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...