Classes
struct	hpp::fcl::BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...

struct	hpp::fcl::BVNode< BV >
	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

class	hpp::fcl::BVFitter< BV >
	The class for the default algorithm fitting a bounding volume to a set of points. More...

class	hpp::fcl::BVSplitter< BV >
	A class describing the split rule that splits each BV node. More...

class	hpp::fcl::BVHModelBase
	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

class	hpp::fcl::BVHModel< BV >
	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

class	hpp::fcl::CollisionGeometry
	The geometry for the object for collision or distance computation. More...

class	hpp::fcl::CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...

Functions
bool	hpp::fcl::BVNodeBase::isLeaf () const
	Whether current node is a leaf node (i.e. contains a primitive index. More...

int	hpp::fcl::BVNodeBase::primitiveId () const
	Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More...

int	hpp::fcl::BVNodeBase::leftChild () const
	Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...

int	hpp::fcl::BVNodeBase::rightChild () const
	Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...

bool	hpp::fcl::BVNode< BV >::overlap (const BVNode &other) const
	Check whether two BVNode collide. More...

bool	hpp::fcl::BVNode< BV >::overlap (const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check whether two BVNode collide. More...

FCL_REAL	hpp::fcl::BVNode< BV >::distance (const BVNode &other, Vec3f P1=NULL, Vec3f P2=NULL) const
	Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More...

Vec3f	hpp::fcl::BVNode< BV >::getCenter () const
	Access to the center of the BV. More...

const Matrix3f &	hpp::fcl::BVNode< BV >::getOrientation () const
	Access to the orientation of the BV. More...

	hpp::fcl::CollisionGeometry::CollisionGeometry ()

virtual	hpp::fcl::CollisionGeometry::~CollisionGeometry ()

virtual OBJECT_TYPE	hpp::fcl::CollisionGeometry::getObjectType () const
	get the type of the object More...

virtual NODE_TYPE	hpp::fcl::CollisionGeometry::getNodeType () const
	get the node type More...

virtual void	hpp::fcl::CollisionGeometry::computeLocalAABB ()=0
	compute the AABB for object in local coordinate More...

void *	hpp::fcl::CollisionGeometry::getUserData () const
	get user data in geometry More...

void	hpp::fcl::CollisionGeometry::setUserData (void *data)
	set user data in geometry More...

bool	hpp::fcl::CollisionGeometry::isOccupied () const
	whether the object is completely occupied More...

bool	hpp::fcl::CollisionGeometry::isFree () const
	whether the object is completely free More...

bool	hpp::fcl::CollisionGeometry::isUncertain () const
	whether the object has some uncertainty More...

virtual Vec3f	hpp::fcl::CollisionGeometry::computeCOM () const
	compute center of mass More...

virtual Matrix3f	hpp::fcl::CollisionGeometry::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

virtual FCL_REAL	hpp::fcl::CollisionGeometry::computeVolume () const
	compute the volume More...

virtual Matrix3f	hpp::fcl::CollisionGeometry::computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

	hpp::fcl::CollisionObject::CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_)

	hpp::fcl::CollisionObject::CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Transform3f &tf)

	hpp::fcl::CollisionObject::CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Matrix3f &R, const Vec3f &T)

	hpp::fcl::CollisionObject::~CollisionObject ()

OBJECT_TYPE	hpp::fcl::CollisionObject::getObjectType () const
	get the type of the object More...

NODE_TYPE	hpp::fcl::CollisionObject::getNodeType () const
	get the node type More...

const AABB &	hpp::fcl::CollisionObject::getAABB () const
	get the AABB in world space More...

void	hpp::fcl::CollisionObject::computeAABB ()
	compute the AABB in world space More...

void *	hpp::fcl::CollisionObject::getUserData () const
	get user data in object More...

void	hpp::fcl::CollisionObject::setUserData (void *data)
	set user data in object More...

const Vec3f &	hpp::fcl::CollisionObject::getTranslation () const
	get translation of the object More...

const Matrix3f &	hpp::fcl::CollisionObject::getRotation () const
	get matrix rotation of the object More...

const Transform3f &	hpp::fcl::CollisionObject::getTransform () const
	get object's transform More...

void	hpp::fcl::CollisionObject::setRotation (const Matrix3f &R)
	set object's rotation matrix More...

void	hpp::fcl::CollisionObject::setTranslation (const Vec3f &T)
	set object's translation More...

void	hpp::fcl::CollisionObject::setTransform (const Matrix3f &R, const Vec3f &T)
	set object's transform More...

void	hpp::fcl::CollisionObject::setTransform (const Transform3f &tf)
	set object's transform More...

bool	hpp::fcl::CollisionObject::isIdentityTransform () const
	whether the object is in local coordinate More...

void	hpp::fcl::CollisionObject::setIdentityTransform ()
	set the object in local coordinate More...

HPP_FCL_DEPRECATED const CollisionGeometry *	hpp::fcl::CollisionObject::getCollisionGeometry () const
	get geometry from the object instance More...

const boost::shared_ptr< const CollisionGeometry > &	hpp::fcl::CollisionObject::collisionGeometry () const
	get geometry from the object instance More...

const boost::shared_ptr< CollisionGeometry > &	hpp::fcl::CollisionObject::collisionGeometry ()
	get geometry from the object instance More...

Variables
int	hpp::fcl::BVNodeBase::first_child
	An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More...

int	hpp::fcl::BVNodeBase::first_primitive
	The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly. More...

int	hpp::fcl::BVNodeBase::num_primitives
	The number of primitives belonging to the current node. More...

BV	hpp::fcl::BVNode< BV >::bv
	bounding volume storing the geometry More...

Vec3f	hpp::fcl::CollisionGeometry::aabb_center
	AABB center in local coordinate. More...

FCL_REAL	hpp::fcl::CollisionGeometry::aabb_radius
	AABB radius. More...

AABB	hpp::fcl::CollisionGeometry::aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

void *	hpp::fcl::CollisionGeometry::user_data
	pointer to user defined data specific to this object More...

FCL_REAL	hpp::fcl::CollisionGeometry::cost_density
	collision cost for unit volume More...

FCL_REAL	hpp::fcl::CollisionGeometry::threshold_occupied
	threshold for occupied ( >= is occupied) More...

FCL_REAL	hpp::fcl::CollisionGeometry::threshold_free
	threshold for free (<= is free) More...

boost::shared_ptr< CollisionGeometry >	hpp::fcl::CollisionObject::cgeom

boost::shared_ptr< const CollisionGeometry >	hpp::fcl::CollisionObject::cgeom_const

Transform3f	hpp::fcl::CollisionObject::t

AABB	hpp::fcl::CollisionObject::aabb
	AABB in global coordinate. More...

void *	hpp::fcl::CollisionObject::user_data
	pointer to user defined data specific to this object More...

Detailed Description

Classes which are used to build a BVHModel (Bounding Volume Hierarchy)

Function Documentation

◆ CollisionGeometry()

hpp::fcl::CollisionGeometry::CollisionGeometry ( )

inline

◆ collisionGeometry() [1/2]

const boost::shared_ptr<const CollisionGeometry>& hpp::fcl::CollisionObject::collisionGeometry ( ) const

inline

get geometry from the object instance

◆ collisionGeometry() [2/2]

const boost::shared_ptr<CollisionGeometry>& hpp::fcl::CollisionObject::collisionGeometry ( )

inline

get geometry from the object instance

◆ CollisionObject() [1/3]

hpp::fcl::CollisionObject::CollisionObject ( const boost::shared_ptr< CollisionGeometry > & cgeom_ )

inline

◆ CollisionObject() [2/3]

hpp::fcl::CollisionObject::CollisionObject	(	const boost::shared_ptr< CollisionGeometry > &	cgeom_,
		const Transform3f &	tf
	)

inline

◆ CollisionObject() [3/3]

hpp::fcl::CollisionObject::CollisionObject	(	const boost::shared_ptr< CollisionGeometry > &	cgeom_,
		const Matrix3f &	R,
		const Vec3f &	T
	)

inline

◆ computeAABB()

void hpp::fcl::CollisionObject::computeAABB ( )

inline

compute the AABB in world space

◆ computeCOM()

virtual Vec3f hpp::fcl::CollisionGeometry::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented in hpp::fcl::Cone, hpp::fcl::BVHModelBase, and hpp::fcl::Convex< PolygonT >.

◆ computeLocalAABB()

virtual void hpp::fcl::CollisionGeometry::computeLocalAABB ( )

pure virtual

compute the AABB for object in local coordinate

Implemented in hpp::fcl::Plane, hpp::fcl::Halfspace, hpp::fcl::ConvexBase, hpp::fcl::Cylinder, hpp::fcl::Cone, hpp::fcl::Capsule, hpp::fcl::Sphere, hpp::fcl::BVHModelBase, hpp::fcl::Box, hpp::fcl::OcTree, and hpp::fcl::TriangleP.

◆ computeMomentofInertia()

virtual Matrix3f hpp::fcl::CollisionGeometry::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented in hpp::fcl::Cylinder, hpp::fcl::Cone, hpp::fcl::BVHModelBase, hpp::fcl::Capsule, hpp::fcl::Sphere, hpp::fcl::Box, and hpp::fcl::Convex< PolygonT >.

◆ computeMomentofInertiaRelatedToCOM()

virtual Matrix3f hpp::fcl::CollisionGeometry::computeMomentofInertiaRelatedToCOM ( ) const

inlinevirtual

compute the inertia matrix, related to the com

◆ computeVolume()

virtual FCL_REAL hpp::fcl::CollisionGeometry::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented in hpp::fcl::Cylinder, hpp::fcl::Cone, hpp::fcl::BVHModelBase, hpp::fcl::Capsule, hpp::fcl::Sphere, hpp::fcl::Box, and hpp::fcl::Convex< PolygonT >.

◆ distance()

template<typename BV>

FCL_REAL hpp::fcl::BVNode< BV >::distance	(	const BVNode< BV > &	other,
		Vec3f *	P1 = `NULL`,
		Vec3f *	P2 = `NULL`
	)		const

inline

Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

◆ getAABB()

const AABB& hpp::fcl::CollisionObject::getAABB ( ) const

inline

get the AABB in world space

◆ getCenter()

template<typename BV>

Vec3f hpp::fcl::BVNode< BV >::getCenter ( ) const

inline

Access to the center of the BV.

◆ getCollisionGeometry()

HPP_FCL_DEPRECATED const CollisionGeometry* hpp::fcl::CollisionObject::getCollisionGeometry ( ) const

inline

get geometry from the object instance

◆ getNodeType() [1/2]

virtual NODE_TYPE hpp::fcl::CollisionGeometry::getNodeType ( ) const

inlinevirtual

get the node type

Reimplemented in hpp::fcl::Plane, hpp::fcl::BVHModel< BV >, hpp::fcl::BVHModel< BV >, hpp::fcl::BVHModel< BV >, hpp::fcl::BVHModel< BV >, hpp::fcl::BVHModel< BV >, hpp::fcl::BVHModel< BV >, hpp::fcl::BVHModel< BV >, hpp::fcl::BVHModel< BV >, hpp::fcl::Halfspace, hpp::fcl::BVHModel< BV >, hpp::fcl::ConvexBase, hpp::fcl::Cylinder, hpp::fcl::OcTree, hpp::fcl::Cone, hpp::fcl::Capsule, hpp::fcl::Sphere, hpp::fcl::Box, and hpp::fcl::TriangleP.

◆ getNodeType() [2/2]

NODE_TYPE hpp::fcl::CollisionObject::getNodeType ( ) const

inline

get the node type

◆ getObjectType() [1/2]

virtual OBJECT_TYPE hpp::fcl::CollisionGeometry::getObjectType ( ) const

inlinevirtual

get the type of the object

Reimplemented in hpp::fcl::OcTree, hpp::fcl::BVHModelBase, and hpp::fcl::ShapeBase.

◆ getObjectType() [2/2]

OBJECT_TYPE hpp::fcl::CollisionObject::getObjectType ( ) const

inline

get the type of the object

◆ getOrientation()

template<typename BV>

const Matrix3f& hpp::fcl::BVNode< BV >::getOrientation ( ) const

inline

Access to the orientation of the BV.

◆ getRotation()

const Matrix3f& hpp::fcl::CollisionObject::getRotation ( ) const

inline

get matrix rotation of the object

◆ getTransform()

const Transform3f& hpp::fcl::CollisionObject::getTransform ( ) const

inline

get object's transform

◆ getTranslation()

const Vec3f& hpp::fcl::CollisionObject::getTranslation ( ) const

inline

get translation of the object

◆ getUserData() [1/2]

void* hpp::fcl::CollisionGeometry::getUserData ( ) const

inline

get user data in geometry

◆ getUserData() [2/2]

void* hpp::fcl::CollisionObject::getUserData ( ) const

inline

get user data in object

◆ isFree()

bool hpp::fcl::CollisionGeometry::isFree ( ) const

inline

whether the object is completely free

◆ isIdentityTransform()

bool hpp::fcl::CollisionObject::isIdentityTransform ( ) const

inline

whether the object is in local coordinate

◆ isLeaf()

bool hpp::fcl::BVNodeBase::isLeaf ( ) const

inline

Whether current node is a leaf node (i.e. contains a primitive index.

◆ isOccupied()

bool hpp::fcl::CollisionGeometry::isOccupied ( ) const

inline

whether the object is completely occupied

◆ isUncertain()

bool hpp::fcl::CollisionGeometry::isUncertain ( ) const

whether the object has some uncertainty

◆ leftChild()

int hpp::fcl::BVNodeBase::leftChild ( ) const

inline

Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

◆ overlap() [1/2]

template<typename BV>

bool hpp::fcl::BVNode< BV >::overlap ( const BVNode< BV > & other ) const

inline

Check whether two BVNode collide.

◆ overlap() [2/2]

template<typename BV>

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

inline

Check whether two BVNode collide.

◆ primitiveId()

int hpp::fcl::BVNodeBase::primitiveId ( ) const

inline

Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.

◆ rightChild()

int hpp::fcl::BVNodeBase::rightChild ( ) const

inline

Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

◆ setIdentityTransform()

void hpp::fcl::CollisionObject::setIdentityTransform ( )

inline

set the object in local coordinate

◆ setRotation()

void hpp::fcl::CollisionObject::setRotation ( const Matrix3f & R )

inline

set object's rotation matrix

◆ setTransform() [1/2]

void hpp::fcl::CollisionObject::setTransform	(	const Matrix3f &	R,
		const Vec3f &	T
	)

inline

set object's transform

◆ setTransform() [2/2]

void hpp::fcl::CollisionObject::setTransform ( const Transform3f & tf )

inline

set object's transform

◆ setTranslation()

void hpp::fcl::CollisionObject::setTranslation ( const Vec3f & T )

inline

set object's translation

◆ setUserData() [1/2]

void hpp::fcl::CollisionGeometry::setUserData ( void * data )

inline

set user data in geometry

◆ setUserData() [2/2]

void hpp::fcl::CollisionObject::setUserData ( void * data )

inline

set user data in object

◆ ~CollisionGeometry()

virtual hpp::fcl::CollisionGeometry::~CollisionGeometry ( )

inlinevirtual

◆ ~CollisionObject()

hpp::fcl::CollisionObject::~CollisionObject ( )

inline

Variable Documentation

◆ aabb

AABB hpp::fcl::CollisionObject::aabb

mutableprotected

AABB in global coordinate.

◆ aabb_center

Vec3f hpp::fcl::CollisionGeometry::aabb_center

AABB center in local coordinate.

◆ aabb_local

AABB hpp::fcl::CollisionGeometry::aabb_local

AABB in local coordinate, used for tight AABB when only translation transform.

◆ aabb_radius

FCL_REAL hpp::fcl::CollisionGeometry::aabb_radius

AABB radius.

◆ bv

template<typename BV>

BV hpp::fcl::BVNode< BV >::bv

bounding volume storing the geometry

◆ cgeom

boost::shared_ptr<CollisionGeometry> hpp::fcl::CollisionObject::cgeom

protected

◆ cgeom_const

boost::shared_ptr<const CollisionGeometry> hpp::fcl::CollisionObject::cgeom_const

protected

◆ cost_density

FCL_REAL hpp::fcl::CollisionGeometry::cost_density

collision cost for unit volume

◆ first_child

int hpp::fcl::BVNodeBase::first_child

An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.

◆ first_primitive

int hpp::fcl::BVNodeBase::first_primitive

The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.

◆ num_primitives

int hpp::fcl::BVNodeBase::num_primitives

The number of primitives belonging to the current node.

◆ t

Transform3f hpp::fcl::CollisionObject::t

protected

◆ threshold_free

FCL_REAL hpp::fcl::CollisionGeometry::threshold_free

threshold for free (<= is free)

◆ threshold_occupied

FCL_REAL hpp::fcl::CollisionGeometry::threshold_occupied

threshold for occupied ( >= is occupied)

◆ user_data [1/2]

void* hpp::fcl::CollisionGeometry::user_data

pointer to user defined data specific to this object

◆ user_data [2/2]

void* hpp::fcl::CollisionObject::user_data

protected

pointer to user defined data specific to this object

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ CollisionGeometry()

◆ collisionGeometry() [1/2]

◆ collisionGeometry() [2/2]

◆ CollisionObject() [1/3]

◆ CollisionObject() [2/3]

◆ CollisionObject() [3/3]

◆ computeAABB()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeMomentofInertiaRelatedToCOM()

◆ computeVolume()

◆ distance()

◆ getAABB()

◆ getCenter()

◆ getCollisionGeometry()

◆ getNodeType() [1/2]

◆ getNodeType() [2/2]

◆ getObjectType() [1/2]

◆ getObjectType() [2/2]

◆ getOrientation()

◆ getRotation()

◆ getTransform()

◆ getTranslation()

◆ getUserData() [1/2]

◆ getUserData() [2/2]

◆ isFree()

◆ isIdentityTransform()

◆ isLeaf()

◆ isOccupied()

◆ isUncertain()

◆ leftChild()

◆ overlap() [1/2]

◆ overlap() [2/2]

◆ primitiveId()

◆ rightChild()

◆ setIdentityTransform()

◆ setRotation()

◆ setTransform() [1/2]

◆ setTransform() [2/2]

◆ setTranslation()

◆ setUserData() [1/2]

◆ setUserData() [2/2]

◆ ~CollisionGeometry()

◆ ~CollisionObject()

Variable Documentation

◆ aabb

◆ aabb_center

◆ aabb_local

◆ aabb_radius

◆ bv

◆ cgeom

◆ cgeom_const

◆ cost_density

◆ first_child

◆ first_primitive

◆ num_primitives

◆ t

◆ threshold_free

◆ threshold_occupied

◆ user_data [1/2]

◆ user_data [2/2]