hppfcl
1.4.4
HPP fork of FCL  The Flexible Collision Library

hppfcl 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
The main entry points to the library are functions
Collision queries can return a distance lower bound between the two objects, which is computationally cheaper than computing the real distance. The following figure shows the returned result in CollisionResult::distance_lower_bound and DistanceResult::min_distance, with respect to the objects real distance.
The two parameters refer to CollisionRequest::security_margin and CollisionRequest::break_distance.