Classes
class	hpp::fcl::AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...

class	hpp::fcl::KDOP< N >
	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) –> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) –> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) –> indices 11 and 23. More...

class	hpp::fcl::kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...

class	hpp::fcl::OBB
	Oriented bounding box class. More...

class	hpp::fcl::OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...

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

Functions
	hpp::fcl::AABB::AABB ()
	Creating an AABB with zero size (low bound +inf, upper bound -inf) More...

	hpp::fcl::AABB::AABB (const Vec3f &v)
	Creating an AABB at position v with zero size. More...

	hpp::fcl::AABB::AABB (const Vec3f &a, const Vec3f &b)
	Creating an AABB with two endpoints a and b. More...

	hpp::fcl::AABB::AABB (const AABB &core, const Vec3f &delta)
	Creating an AABB centered as core and is of half-dimension delta. More...

	hpp::fcl::AABB::AABB (const Vec3f &a, const Vec3f &b, const Vec3f &c)
	Creating an AABB contains three points. More...

bool	hpp::fcl::AABB::contain (const AABB &other) const
	Check whether the AABB contains another AABB. More...

bool	hpp::fcl::AABB::overlap (const AABB &other, AABB &overlap_part) const
	Check whether two AABB are overlap and return the overlap part. More...

AABB &	hpp::fcl::AABB::expand (const Vec3f &delta)
	expand the half size of the AABB by delta, and keep the center unchanged. More...

AABB &	hpp::fcl::AABB::expand (const AABB &core, FCL_REAL ratio)
	expand the aabb by increase the thickness of the plate by a ratio More...

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. More...

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. More...

	hpp::fcl::KDOP< N >::KDOP ()
	Creating kDOP containing nothing. More...

	hpp::fcl::KDOP< N >::KDOP (const Vec3f &v)
	Creating kDOP containing only one point. More...

	hpp::fcl::KDOP< N >::KDOP (const Vec3f &a, const Vec3f &b)
	Creating kDOP containing two points. More...

bool	hpp::fcl::KDOP< N >::overlap (const KDOP< N > &other) const
	Check whether two KDOPs overlap. More...

bool	hpp::fcl::KDOP< N >::overlap (const KDOP< N > &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check whether two KDOPs overlap. More...

FCL_REAL	hpp::fcl::KDOP< N >::distance (const KDOP< N > &other, Vec3f P=NULL, Vec3f Q=NULL) const
	The distance between two KDOP<N>. Not implemented. More...

KDOP< N > &	hpp::fcl::KDOP< N >::operator+= (const Vec3f &p)
	Merge the point and the KDOP. More...

KDOP< N > &	hpp::fcl::KDOP< N >::operator+= (const KDOP< N > &other)
	Merge two KDOPs. More...

KDOP< N >	hpp::fcl::KDOP< N >::operator+ (const KDOP< N > &other) const
	Create a KDOP by mergin two KDOPs. More...

FCL_REAL	hpp::fcl::KDOP< N >::size () const
	Size of the kDOP (used in BV_Splitter to order two kDOPs) More...

Vec3f	hpp::fcl::KDOP< N >::center () const
	The (AABB) center. More...

FCL_REAL	hpp::fcl::KDOP< N >::width () const
	The (AABB) width. More...

FCL_REAL	hpp::fcl::KDOP< N >::height () const
	The (AABB) height. More...

FCL_REAL	hpp::fcl::KDOP< N >::depth () const
	The (AABB) depth. More...

FCL_REAL	hpp::fcl::KDOP< N >::volume () const
	The (AABB) volume. More...

FCL_REAL	hpp::fcl::KDOP< N >::dist (short i) const

FCL_REAL &	hpp::fcl::KDOP< N >::dist (short i)

bool	hpp::fcl::KDOP< N >::inside (const Vec3f &p) const

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

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

template<short N>
KDOP< N >	hpp::fcl::translate (const KDOP< N > &bv, const Vec3f &t)
	translate the KDOP BV More...

bool	hpp::fcl::kIOS::contain (const Vec3f &p) const
	Check whether the kIOS contains a point. More...

bool	hpp::fcl::kIOS::overlap (const kIOS &other) const
	Check collision between two kIOS. More...

bool	hpp::fcl::kIOS::overlap (const kIOS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
	Check collision between two kIOS. More...

FCL_REAL	hpp::fcl::kIOS::distance (const kIOS &other, Vec3f P=NULL, Vec3f Q=NULL) const
	The distance between two kIOS. More...

kIOS &	hpp::fcl::kIOS::operator+= (const Vec3f &p)
	A simple way to merge the kIOS and a point. More...

kIOS &	hpp::fcl::kIOS::operator+= (const kIOS &other)
	Merge the kIOS and another kIOS. More...

kIOS	hpp::fcl::kIOS::operator+ (const kIOS &other) const
	Return the merged kIOS of current kIOS and the other one. More...

FCL_REAL	hpp::fcl::kIOS::size () const
	size of the kIOS (used in BV_Splitter to order two kIOSs) More...

const Vec3f &	hpp::fcl::kIOS::center () const
	Center of the kIOS. More...

FCL_REAL	hpp::fcl::kIOS::width () const
	Width of the kIOS. More...

FCL_REAL	hpp::fcl::kIOS::height () const
	Height of the kIOS. More...

FCL_REAL	hpp::fcl::kIOS::depth () const
	Depth of the kIOS. More...

FCL_REAL	hpp::fcl::kIOS::volume () const
	Volume of the kIOS. More...

kIOS	hpp::fcl::translate (const kIOS &bv, const Vec3f &t)
	Translate the kIOS BV. More...

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. More...

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. More...

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. More...

bool	hpp::fcl::OBB::contain (const Vec3f &p) const
	Check whether the OBB contains a point. More...

bool	hpp::fcl::OBB::overlap (const OBB &other) const

bool	hpp::fcl::OBB::overlap (const OBB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const

FCL_REAL	hpp::fcl::OBB::distance (const OBB &other, Vec3f P=NULL, Vec3f Q=NULL) const
	Distance between two OBBs, not implemented. More...

OBB &	hpp::fcl::OBB::operator+= (const Vec3f &p)
	A simple way to merge the OBB and a point (the result is not compact). More...

OBB &	hpp::fcl::OBB::operator+= (const OBB &other)
	Merge the OBB and another OBB (the result is not compact). More...

OBB	hpp::fcl::OBB::operator+ (const OBB &other) const
	Return the merged OBB of current OBB and the other one (the result is not compact). More...

FCL_REAL	hpp::fcl::OBB::size () const
	Size of the OBB (used in BV_Splitter to order two OBBs) More...

const Vec3f &	hpp::fcl::OBB::center () const
	Center of the OBB. More...

FCL_REAL	hpp::fcl::OBB::width () const
	Width of the OBB. More...

FCL_REAL	hpp::fcl::OBB::height () const
	Height of the OBB. More...

FCL_REAL	hpp::fcl::OBB::depth () const
	Depth of the OBB. More...

FCL_REAL	hpp::fcl::OBB::volume () const
	Volume of the OBB. More...

OBB	hpp::fcl::translate (const OBB &bv, const Vec3f &t)
	Translate the OBB bv. More...

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. More...

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. More...

bool	hpp::fcl::obbDisjoint (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)

bool	hpp::fcl::OBBRSS::contain (const Vec3f &p) const
	Check whether the OBBRSS contains a point. More...

bool	hpp::fcl::OBBRSS::overlap (const OBBRSS &other) const
	Check collision between two OBBRSS. More...

bool	hpp::fcl::OBBRSS::overlap (const OBBRSS &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const

FCL_REAL	hpp::fcl::OBBRSS::distance (const OBBRSS &other, Vec3f P=NULL, Vec3f Q=NULL) const
	Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points. More...

OBBRSS &	hpp::fcl::OBBRSS::operator+= (const Vec3f &p)
	Merge the OBBRSS and a point. More...

OBBRSS &	hpp::fcl::OBBRSS::operator+= (const OBBRSS &other)
	Merge two OBBRSS. More...

OBBRSS	hpp::fcl::OBBRSS::operator+ (const OBBRSS &other) const
	Merge two OBBRSS. More...

FCL_REAL	hpp::fcl::OBBRSS::size () const
	Size of the OBBRSS (used in BV_Splitter to order two OBBRSS) More...

const Vec3f &	hpp::fcl::OBBRSS::center () const
	Center of the OBBRSS. More...

FCL_REAL	hpp::fcl::OBBRSS::width () const
	Width of the OBRSS. More...

FCL_REAL	hpp::fcl::OBBRSS::height () const
	Height of the OBBRSS. More...

FCL_REAL	hpp::fcl::OBBRSS::depth () const
	Depth of the OBBRSS. More...

FCL_REAL	hpp::fcl::OBBRSS::volume () const
	Volume of the OBBRSS. More...

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. More...

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

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. More...

bool	hpp::fcl::RSS::contain (const Vec3f &p) const
	Check whether the RSS contains a point. More...

bool	hpp::fcl::RSS::overlap (const RSS &other) const
	Check collision between two RSS. More...

bool	hpp::fcl::RSS::overlap (const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
	Not implemented. More...

FCL_REAL	hpp::fcl::RSS::distance (const RSS &other, Vec3f P=NULL, Vec3f Q=NULL) const
	the distance between two RSS; P and Q, if not NULL, return the nearest points More...

RSS &	hpp::fcl::RSS::operator+= (const Vec3f &p)
	A simple way to merge the RSS and a point, not compact. More...

RSS &	hpp::fcl::RSS::operator+= (const RSS &other)
	Merge the RSS and another RSS. More...

RSS	hpp::fcl::RSS::operator+ (const RSS &other) const
	Return the merged RSS of current RSS and the other one. More...

FCL_REAL	hpp::fcl::RSS::size () const
	Size of the RSS (used in BV_Splitter to order two RSSs) More...

const Vec3f &	hpp::fcl::RSS::center () const
	The RSS center. More...

FCL_REAL	hpp::fcl::RSS::width () const
	Width of the RSS. More...

FCL_REAL	hpp::fcl::RSS::height () const
	Height of the RSS. More...

FCL_REAL	hpp::fcl::RSS::depth () const
	Depth of the RSS. More...

FCL_REAL	hpp::fcl::RSS::volume () const
	Volume of the RSS. More...

bool	hpp::fcl::RSS::overlap (const RSS &other, RSS &) const
	Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS. More...

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...

Variables
Vec3f	hpp::fcl::AABB::min_
	The min point in the AABB. More...

Vec3f	hpp::fcl::AABB::max_
	The max point in the AABB. More...

Vec3f	hpp::fcl::kIOS::kIOS_Sphere::o

FCL_REAL	hpp::fcl::kIOS::kIOS_Sphere::r

kIOS_Sphere	hpp::fcl::kIOS::spheres [5]
	The (at most) five spheres for intersection. More...

unsigned int	hpp::fcl::kIOS::num_spheres
	The number of spheres, no larger than 5. More...

OBB	hpp::fcl::kIOS::obb
	@ OBB related with kIOS More...

Matrix3f	hpp::fcl::OBB::axes
	Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. More...

Vec3f	hpp::fcl::OBB::To
	Center of OBB. More...

Vec3f	hpp::fcl::OBB::extent
	Half dimensions of OBB. More...

OBB	hpp::fcl::OBBRSS::obb
	OBB member, for rotation. More...

RSS	hpp::fcl::OBBRSS::rss
	RSS member, for distance. More...

Matrix3f	hpp::fcl::RSS::axes
	Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. More...

Vec3f	hpp::fcl::RSS::Tr
	Origin of the rectangle in RSS. More...

FCL_REAL	hpp::fcl::RSS::length [2]
	Side lengths of rectangle. More...

FCL_REAL	hpp::fcl::RSS::radius
	Radius of sphere summed with rectangle to form RSS. More...

Bounding volume API
Common API to BVs.
bool	hpp::fcl::AABB::contain (const Vec3f &p) const
	Check whether the AABB contains a point. More...

bool	hpp::fcl::AABB::overlap (const AABB &other) const
	Check whether two AABB are overlap. More...

bool	hpp::fcl::AABB::overlap (const AABB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check whether two AABB are overlap. More...

FCL_REAL	hpp::fcl::AABB::distance (const AABB &other) const
	Distance between two AABBs. More...

FCL_REAL	hpp::fcl::AABB::distance (const AABB &other, Vec3f P, Vec3f Q) const
	Distance between two AABBs; P and Q, should not be NULL, return the nearest points. More...

AABB &	hpp::fcl::AABB::operator+= (const Vec3f &p)
	Merge the AABB and a point. More...

AABB &	hpp::fcl::AABB::operator+= (const AABB &other)
	Merge the AABB and another AABB. More...

AABB	hpp::fcl::AABB::operator+ (const AABB &other) const
	Return the merged AABB of current AABB and the other one. More...

FCL_REAL	hpp::fcl::AABB::size () const
	Size of the AABB (used in BV_Splitter to order two AABBs) More...

Vec3f	hpp::fcl::AABB::center () const
	Center of the AABB. More...

FCL_REAL	hpp::fcl::AABB::width () const
	Width of the AABB. More...

FCL_REAL	hpp::fcl::AABB::height () const
	Height of the AABB. More...

FCL_REAL	hpp::fcl::AABB::depth () const
	Depth of the AABB. More...

FCL_REAL	hpp::fcl::AABB::volume () const
	Volume of the AABB. More...

Detailed Description

Classes of different types of bounding volume.

Function Documentation

◆ AABB() [1/5]

hpp::fcl::AABB::AABB ( )

Creating an AABB with zero size (low bound +inf, upper bound -inf)

◆ AABB() [2/5]

hpp::fcl::AABB::AABB ( const Vec3f & v )

inline

Creating an AABB at position v with zero size.

◆ AABB() [3/5]

hpp::fcl::AABB::AABB	(	const Vec3f &	a,
		const Vec3f &	b
	)

inline

Creating an AABB with two endpoints a and b.

◆ AABB() [4/5]

hpp::fcl::AABB::AABB	(	const AABB &	core,
		const Vec3f &	delta
	)

inline

Creating an AABB centered as core and is of half-dimension delta.

◆ AABB() [5/5]

hpp::fcl::AABB::AABB	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c
	)

inline

Creating an AABB contains three points.

◆ center() [1/6]

const Vec3f& hpp::fcl::OBB::center ( ) const

inline

Center of the OBB.

◆ center() [2/6]

const Vec3f& hpp::fcl::RSS::center ( ) const

inline

The RSS center.

◆ center() [3/6]

const Vec3f& hpp::fcl::OBBRSS::center ( ) const

inline

Center of the OBBRSS.

◆ center() [4/6]

const Vec3f& hpp::fcl::kIOS::center ( ) const

inline

Center of the kIOS.

◆ center() [5/6]

template<short N>

Vec3f hpp::fcl::KDOP< N >::center ( ) const

inline

The (AABB) center.

◆ center() [6/6]

Vec3f hpp::fcl::AABB::center ( ) const

inline

Center of the AABB.

◆ contain() [1/6]

bool hpp::fcl::OBBRSS::contain ( const Vec3f & p ) const

inline

Check whether the OBBRSS contains a point.

◆ contain() [2/6]

bool hpp::fcl::OBB::contain ( const Vec3f & p ) const

Check whether the OBB contains a point.

◆ contain() [3/6]

bool hpp::fcl::RSS::contain ( const Vec3f & p ) const

Check whether the RSS contains a point.

◆ contain() [4/6]

bool hpp::fcl::AABB::contain ( const Vec3f & p ) const

inline

Check whether the AABB contains a point.

◆ contain() [5/6]

bool hpp::fcl::kIOS::contain ( const Vec3f & p ) const

Check whether the kIOS contains a point.

◆ contain() [6/6]

bool hpp::fcl::AABB::contain ( const AABB & other ) const

inline

Check whether the AABB contains another AABB.

◆ depth() [1/6]

FCL_REAL hpp::fcl::OBB::depth ( ) const

inline

Depth of the OBB.

◆ depth() [2/6]

FCL_REAL hpp::fcl::RSS::depth ( ) const

inline

Depth of the RSS.

◆ depth() [3/6]

FCL_REAL hpp::fcl::OBBRSS::depth ( ) const

inline

Depth of the OBBRSS.

◆ depth() [4/6]

FCL_REAL hpp::fcl::kIOS::depth ( ) const

Depth of the kIOS.

◆ depth() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::depth ( ) const

inline

The (AABB) depth.

◆ depth() [6/6]

FCL_REAL hpp::fcl::AABB::depth ( ) const

inline

Depth of the AABB.

◆ dist() [1/2]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::dist ( short i ) const

inline

◆ dist() [2/2]

template<short N>

FCL_REAL& hpp::fcl::KDOP< N >::dist ( short i )

inline

◆ distance() [1/10]

FCL_REAL hpp::fcl::OBB::distance	(	const OBB &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

Distance between two OBBs, not implemented.

◆ distance() [2/10]

FCL_REAL hpp::fcl::RSS::distance	(	const RSS &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

the distance between two RSS; P and Q, if not NULL, return the nearest points

◆ distance() [3/10]

FCL_REAL hpp::fcl::OBBRSS::distance	(	const OBBRSS &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

inline

Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.

◆ distance() [4/10]

FCL_REAL hpp::fcl::kIOS::distance	(	const kIOS &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

The distance between two kIOS.

◆ distance() [5/10]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::distance	(	const KDOP< N > &	other,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)		const

The distance between two KDOP<N>. Not implemented.

◆ distance() [6/10]

FCL_REAL hpp::fcl::AABB::distance ( const AABB & other ) const

Distance between two AABBs.

◆ distance() [7/10]

FCL_REAL hpp::fcl::AABB::distance	(	const AABB &	other,
		Vec3f *	P,
		Vec3f *	Q
	)		const

Distance between two AABBs; P and Q, should not be NULL, return the nearest points.

◆ distance() [8/10]

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)

◆ distance() [9/10]

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

◆ distance() [10/10]

FCL_REAL hpp::fcl::distance	(	const Matrix3f &	R0,
		const Vec3f &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2,
		Vec3f *	P = `NULL`,
		Vec3f *	Q = `NULL`
	)

inline

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.

◆ expand() [1/2]

AABB& hpp::fcl::AABB::expand ( const Vec3f & delta )

inline

expand the half size of the AABB by delta, and keep the center unchanged.

◆ expand() [2/2]

AABB& hpp::fcl::AABB::expand	(	const AABB &	core,
		FCL_REAL	ratio
	)

inline

expand the aabb by increase the thickness of the plate by a ratio

◆ height() [1/6]

FCL_REAL hpp::fcl::OBB::height ( ) const

inline

Height of the OBB.

◆ height() [2/6]

FCL_REAL hpp::fcl::RSS::height ( ) const

inline

Height of the RSS.

◆ height() [3/6]

FCL_REAL hpp::fcl::OBBRSS::height ( ) const

inline

Height of the OBBRSS.

◆ height() [4/6]

FCL_REAL hpp::fcl::kIOS::height ( ) const

Height of the kIOS.

◆ height() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::height ( ) const

inline

The (AABB) height.

◆ height() [6/6]

FCL_REAL hpp::fcl::AABB::height ( ) const

inline

Height of the AABB.

◆ inside()

template<short N>

bool hpp::fcl::KDOP< N >::inside ( const Vec3f & p ) const

◆ KDOP() [1/3]

template<short N>

hpp::fcl::KDOP< N >::KDOP ( )

Creating kDOP containing nothing.

◆ KDOP() [2/3]

template<short N>

hpp::fcl::KDOP< N >::KDOP ( const Vec3f & v )

Creating kDOP containing only one point.

◆ KDOP() [3/3]

template<short N>

hpp::fcl::KDOP< N >::KDOP	(	const Vec3f &	a,
		const Vec3f &	b
	)

Creating kDOP containing two points.

◆ obbDisjoint()

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.

◆ operator+() [1/6]

OBB hpp::fcl::OBB::operator+ ( const OBB & other ) const

Return the merged OBB of current OBB and the other one (the result is not compact).

◆ operator+() [2/6]

RSS hpp::fcl::RSS::operator+ ( const RSS & other ) const

Return the merged RSS of current RSS and the other one.

◆ operator+() [3/6]

OBBRSS hpp::fcl::OBBRSS::operator+ ( const OBBRSS & other ) const

inline

Merge two OBBRSS.

◆ operator+() [4/6]

kIOS hpp::fcl::kIOS::operator+ ( const kIOS & other ) const

Return the merged kIOS of current kIOS and the other one.

◆ operator+() [5/6]

template<short N>

KDOP<N> hpp::fcl::KDOP< N >::operator+ ( const KDOP< N > & other ) const

Create a KDOP by mergin two KDOPs.

◆ operator+() [6/6]

AABB hpp::fcl::AABB::operator+ ( const AABB & other ) const

inline

Return the merged AABB of current AABB and the other one.

◆ operator+=() [1/12]

OBB& hpp::fcl::OBB::operator+= ( const Vec3f & p )

A simple way to merge the OBB and a point (the result is not compact).

◆ operator+=() [2/12]

OBB& hpp::fcl::OBB::operator+= ( const OBB & other )

inline

Merge the OBB and another OBB (the result is not compact).

◆ operator+=() [3/12]

RSS& hpp::fcl::RSS::operator+= ( const Vec3f & p )

A simple way to merge the RSS and a point, not compact.

Todo:: This function may have some bug.

◆ operator+=() [4/12]

OBBRSS& hpp::fcl::OBBRSS::operator+= ( const Vec3f & p )

inline

Merge the OBBRSS and a point.

◆ operator+=() [5/12]

RSS& hpp::fcl::RSS::operator+= ( const RSS & other )

inline

Merge the RSS and another RSS.

◆ operator+=() [6/12]

OBBRSS& hpp::fcl::OBBRSS::operator+= ( const OBBRSS & other )

inline

Merge two OBBRSS.

◆ operator+=() [7/12]

kIOS& hpp::fcl::kIOS::operator+= ( const Vec3f & p )

A simple way to merge the kIOS and a point.

◆ operator+=() [8/12]

kIOS& hpp::fcl::kIOS::operator+= ( const kIOS & other )

inline

Merge the kIOS and another kIOS.

◆ operator+=() [9/12]

template<short N>

KDOP<N>& hpp::fcl::KDOP< N >::operator+= ( const Vec3f & p )

Merge the point and the KDOP.

◆ operator+=() [10/12]

template<short N>

KDOP<N>& hpp::fcl::KDOP< N >::operator+= ( const KDOP< N > & other )

Merge two KDOPs.

◆ operator+=() [11/12]

AABB& hpp::fcl::AABB::operator+= ( const Vec3f & p )

inline

Merge the AABB and a point.

◆ operator+=() [12/12]

AABB& hpp::fcl::AABB::operator+= ( const AABB & other )

inline

Merge the AABB and another AABB.

◆ overlap() [1/26]

bool hpp::fcl::OBB::overlap ( const OBB & other ) const

Check collision between two OBB

Returns: true if collision happens.

◆ overlap() [2/26]

bool hpp::fcl::OBBRSS::overlap ( const OBBRSS & other ) const

inline

Check collision between two OBBRSS.

◆ overlap() [3/26]

bool hpp::fcl::RSS::overlap ( const RSS & other ) const

Check collision between two RSS.

◆ overlap() [4/26]

bool hpp::fcl::OBB::overlap	(	const OBB &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check collision between two OBB

Returns: true if collision happens.

Return values

sqrDistLowerBound squared lower bound on distance between boxes if they do not overlap.

◆ overlap() [5/26]

bool hpp::fcl::RSS::overlap	(	const RSS &	other,
		const CollisionRequest &	,
		FCL_REAL &	sqrDistLowerBound
	)		const

inline

Not implemented.

◆ overlap() [6/26]

bool hpp::fcl::OBBRSS::overlap	(	const OBBRSS &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

inline

Check collision between two OBBRSS

Return values

sqrDistLowerBound squared lower bound on distance between objects if they do not overlap.

◆ overlap() [7/26]

bool hpp::fcl::kIOS::overlap ( const kIOS & other ) const

Check collision between two kIOS.

◆ overlap() [8/26]

bool hpp::fcl::AABB::overlap ( const AABB & other ) const

inline

Check whether two AABB are overlap.

◆ overlap() [9/26]

bool hpp::fcl::kIOS::overlap	(	const kIOS &	other,
		const CollisionRequest &	,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check collision between two kIOS.

◆ overlap() [10/26]

template<short N>

bool hpp::fcl::KDOP< N >::overlap ( const KDOP< N > & other ) const

Check whether two KDOPs overlap.

◆ overlap() [11/26]

template<short N>

bool hpp::fcl::KDOP< N >::overlap	(	const KDOP< N > &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check whether two KDOPs overlap.

Returns: true if collision happens.

Return values

sqrDistLowerBound squared lower bound on distance between boxes if they do not overlap.

◆ overlap() [12/26]

bool hpp::fcl::AABB::overlap	(	const AABB &	other,
		const CollisionRequest &	request,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check whether two AABB are overlap.

◆ overlap() [13/26]

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.

◆ overlap() [14/26]

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.

◆ overlap() [15/26]

bool hpp::fcl::RSS::overlap	(	const RSS &	other,
		RSS &
	)		const

inline

Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

◆ overlap() [16/26]

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

◆ overlap() [17/26]

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

inline

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

◆ overlap() [18/26]

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.

◆ overlap() [19/26]

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.

◆ overlap() [20/26]

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

◆ overlap() [21/26]

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

inline

Check collision between two OBBRSS

Parameters

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

Return values

sqrDistLowerBound squared lower bound on the distance if OBBRSS do not overlap.

◆ overlap() [22/26]

template<short N>

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

◆ overlap() [23/26]

template<short N>

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

◆ overlap() [24/26]

bool hpp::fcl::AABB::overlap	(	const AABB &	other,
		AABB &	overlap_part
	)		const

inline

Check whether two AABB are overlap and return the overlap part.

◆ overlap() [25/26]

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.

◆ overlap() [26/26]

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.

◆ size() [1/6]

FCL_REAL hpp::fcl::OBB::size ( ) const

inline

Size of the OBB (used in BV_Splitter to order two OBBs)

◆ size() [2/6]

FCL_REAL hpp::fcl::RSS::size ( ) const

inline

Size of the RSS (used in BV_Splitter to order two RSSs)

◆ size() [3/6]

FCL_REAL hpp::fcl::OBBRSS::size ( ) const

inline

Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)

◆ size() [4/6]

FCL_REAL hpp::fcl::kIOS::size ( ) const

size of the kIOS (used in BV_Splitter to order two kIOSs)

◆ size() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::size ( ) const

inline

Size of the kDOP (used in BV_Splitter to order two kDOPs)

◆ size() [6/6]

FCL_REAL hpp::fcl::AABB::size ( ) const

inline

Size of the AABB (used in BV_Splitter to order two AABBs)

◆ translate() [1/3]

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

Translate the OBB bv.

◆ translate() [2/3]

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

Translate the kIOS BV.

◆ translate() [3/3]

template<short N>

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

translate the KDOP BV

◆ volume() [1/6]

FCL_REAL hpp::fcl::OBB::volume ( ) const

inline

Volume of the OBB.

◆ volume() [2/6]

FCL_REAL hpp::fcl::RSS::volume ( ) const

inline

Volume of the RSS.

◆ volume() [3/6]

FCL_REAL hpp::fcl::kIOS::volume ( ) const

Volume of the kIOS.

◆ volume() [4/6]

FCL_REAL hpp::fcl::OBBRSS::volume ( ) const

inline

Volume of the OBBRSS.

◆ volume() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::volume ( ) const

inline

The (AABB) volume.

◆ volume() [6/6]

FCL_REAL hpp::fcl::AABB::volume ( ) const

inline

Volume of the AABB.

◆ width() [1/6]

FCL_REAL hpp::fcl::OBB::width ( ) const

inline

Width of the OBB.

◆ width() [2/6]

FCL_REAL hpp::fcl::RSS::width ( ) const

inline

Width of the RSS.

◆ width() [3/6]

FCL_REAL hpp::fcl::OBBRSS::width ( ) const

inline

Width of the OBRSS.

◆ width() [4/6]

FCL_REAL hpp::fcl::kIOS::width ( ) const

Width of the kIOS.

◆ width() [5/6]

template<short N>

FCL_REAL hpp::fcl::KDOP< N >::width ( ) const

inline

The (AABB) width.

◆ width() [6/6]

FCL_REAL hpp::fcl::AABB::width ( ) const

inline

Width of the AABB.

Variable Documentation

◆ axes [1/2]

Matrix3f hpp::fcl::OBB::axes

Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

◆ axes [2/2]

Matrix3f hpp::fcl::RSS::axes

Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

◆ extent

Vec3f hpp::fcl::OBB::extent

Half dimensions of OBB.

◆ length

FCL_REAL hpp::fcl::RSS::length[2]

Side lengths of rectangle.

◆ max_

Vec3f hpp::fcl::AABB::max_

The max point in the AABB.

◆ min_

Vec3f hpp::fcl::AABB::min_

The min point in the AABB.

◆ num_spheres

unsigned int hpp::fcl::kIOS::num_spheres

The number of spheres, no larger than 5.

◆ o

Vec3f hpp::fcl::kIOS::kIOS_Sphere::o

◆ obb [1/2]

OBB hpp::fcl::OBBRSS::obb

OBB member, for rotation.

◆ obb [2/2]

OBB hpp::fcl::kIOS::obb

@ OBB related with kIOS

◆ r

FCL_REAL hpp::fcl::kIOS::kIOS_Sphere::r

◆ radius

FCL_REAL hpp::fcl::RSS::radius

Radius of sphere summed with rectangle to form RSS.

◆ rss

RSS hpp::fcl::OBBRSS::rss

RSS member, for distance.

◆ spheres

kIOS_Sphere hpp::fcl::kIOS::spheres[5]

The (at most) five spheres for intersection.

◆ To

Vec3f hpp::fcl::OBB::To

Center of OBB.

◆ Tr

Vec3f hpp::fcl::RSS::Tr

Origin of the rectangle in RSS.

Classes

Functions

Variables

Bounding volume API

Detailed Description

Function Documentation

◆ AABB() [1/5]

◆ AABB() [2/5]

◆ AABB() [3/5]

◆ AABB() [4/5]

◆ AABB() [5/5]

◆ center() [1/6]

◆ center() [2/6]

◆ center() [3/6]

◆ center() [4/6]

◆ center() [5/6]

◆ center() [6/6]

◆ contain() [1/6]

◆ contain() [2/6]

◆ contain() [3/6]

◆ contain() [4/6]

◆ contain() [5/6]

◆ contain() [6/6]

◆ depth() [1/6]

◆ depth() [2/6]

◆ depth() [3/6]

◆ depth() [4/6]

◆ depth() [5/6]

◆ depth() [6/6]

◆ dist() [1/2]

◆ dist() [2/2]

◆ distance() [1/10]

◆ distance() [2/10]

◆ distance() [3/10]

◆ distance() [4/10]

◆ distance() [5/10]

◆ distance() [6/10]

◆ distance() [7/10]

◆ distance() [8/10]

◆ distance() [9/10]

◆ distance() [10/10]

◆ expand() [1/2]

◆ expand() [2/2]

◆ height() [1/6]

◆ height() [2/6]

◆ height() [3/6]

◆ height() [4/6]

◆ height() [5/6]

◆ height() [6/6]

◆ inside()

◆ KDOP() [1/3]

◆ KDOP() [2/3]

◆ KDOP() [3/3]

◆ obbDisjoint()

◆ operator+() [1/6]

◆ operator+() [2/6]

◆ operator+() [3/6]

◆ operator+() [4/6]

◆ operator+() [5/6]

◆ operator+() [6/6]

◆ operator+=() [1/12]

◆ operator+=() [2/12]

◆ operator+=() [3/12]

◆ operator+=() [4/12]

◆ operator+=() [5/12]

◆ operator+=() [6/12]

◆ operator+=() [7/12]

◆ operator+=() [8/12]

◆ operator+=() [9/12]

◆ operator+=() [10/12]

◆ operator+=() [11/12]

◆ operator+=() [12/12]

◆ overlap() [1/26]

◆ overlap() [2/26]

◆ overlap() [3/26]

◆ overlap() [4/26]

◆ overlap() [5/26]

◆ overlap() [6/26]

◆ overlap() [7/26]

◆ overlap() [8/26]