hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
RSS.h File Reference
#include <hpp/fcl/data_types.h>
#include <boost/math/constants/constants.hpp>
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Classes

class  hpp::fcl::RSS
 A class for rectangle sphere-swept bounding volume. More...
 

Namespaces

 hpp
 Main namespace.
 
 hpp::fcl
 

Functions

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) More...
 
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. More...
 
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. More...