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class | AABB |
| A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...
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class | Box |
| Center at zero point, axis aligned box. More...
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class | BVFitter |
| The class for the default algorithm fitting a bounding volume to a set of points. More...
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class | BVFitter< AABB > |
| Specification of BVFitter for AABB bounding volume. More...
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class | BVFitter< kIOS > |
| Specification of BVFitter for kIOS bounding volume. More...
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class | BVFitter< OBB > |
| Specification of BVFitter for OBB bounding volume. More...
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class | BVFitter< OBBRSS > |
| Specification of BVFitter for OBBRSS bounding volume. More...
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class | BVFitter< RSS > |
| Specification of BVFitter for RSS bounding volume. More...
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class | BVFitterTpl |
| The class for the default algorithm fitting a bounding volume to a set of points. More...
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struct | BVHFrontNode |
| Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hierarchy, where the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a BVTT that is traversed for that particular proximity query. More...
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class | BVHModel |
| 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...
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class | 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...
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struct | BVNode |
| 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...
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struct | BVNodeBase |
| BVNodeBase encodes the tree structure for BVH. More...
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class | BVSplitter |
| A class describing the split rule that splits each BV node. More...
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class | CachedMeshLoader |
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class | Capsule |
| Capsule It is where is the distance between the point x and the capsule segment AB, with . More...
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struct | CollisionFunctionMatrix |
| collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More...
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class | CollisionGeometry |
| The geometry for the object for collision or distance computation. More...
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class | CollisionObject |
| the object for collision or distance computation, contains the geometry and the transform information More...
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struct | CollisionRequest |
| request to the collision algorithm More...
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struct | CollisionResult |
| collision result More...
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class | Cone |
| Cone The base of the cone is at and the top is at . More...
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struct | Contact |
| Contact information returned by collision. More...
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class | Convex |
| Convex polytope. More...
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class | ConvexBase |
| Base for convex polytope. More...
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class | Cylinder |
| Cylinder along Z axis. The cylinder is defined at its centroid. More...
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struct | DistanceFunctionMatrix |
| distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More...
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struct | DistanceRequest |
| request to the distance computation More...
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struct | DistanceResult |
| distance result More...
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struct | GJKSolver |
| collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More...
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class | Halfspace |
| Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. More...
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class | KDOP |
| 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...
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class | kIOS |
| A class describing the kIOS collision structure, which is a set of spheres. More...
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class | MeshLoader |
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class | OBB |
| Oriented bounding box class. More...
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class | OBBRSS |
| Class merging the OBB and RSS, can handle collision and distance simultaneously. More...
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class | OcTree |
| Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More...
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class | Plane |
| Infinite plane. More...
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class | RSS |
| A class for rectangle sphere-swept bounding volume. More...
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class | ShapeBase |
| Base class for all basic geometric shapes. More...
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class | Sphere |
| Center at zero point sphere. More...
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class | Transform3f |
| Simple transform class used locally by InterpMotion. More...
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struct | TraversalTraitsCollision |
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struct | TraversalTraitsDistance |
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class | Triangle |
| Triangle with 3 indices for points. More...
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class | TriangleP |
| Triangle stores the points instead of only indices of points. More...
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bool | 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...
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bool | 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...
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template<short N> |
bool | overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &) |
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template<short N> |
bool | overlap (const Matrix3f &, const Vec3f &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, FCL_REAL &) |
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template<short N> |
KDOP< N > | translate (const KDOP< N > &bv, const Vec3f &t) |
| translate the KDOP BV More...
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kIOS | translate (const kIOS &bv, const Vec3f &t) |
| Translate the kIOS BV. More...
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bool | 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...
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bool | 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...
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FCL_REAL | 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...
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OBB | translate (const OBB &bv, const Vec3f &t) |
| Translate the OBB bv. More...
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bool | 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...
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bool | 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...
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bool | obbDisjoint (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b) |
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bool | 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...
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bool | overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) |
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FCL_REAL | 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...
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FCL_REAL | 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...
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bool | 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...
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bool | 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...
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void | updateFrontList (BVHFrontList *front_list, int b1, int b2) |
| Add new front node into the front list. More...
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template<typename BV > |
BVHModel< BV > * | 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...
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void | 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...
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void | 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...
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void | getExtentAndCenter (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &axes, Vec3f ¢er, Vec3f &extent) |
| Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
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void | circumCircleComputation (const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f ¢er, FCL_REAL &radius) |
| Compute the center and radius for a triangle's circumcircle. More...
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FCL_REAL | 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...
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std::size_t | collide (const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result) |
| Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects. More...
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std::size_t | collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) |
| Main collision interface: given two collision objects, and the requirements for contacts, including num of max contacts, whether perform exhaustive collision (i.e., returning returning all the contact points), whether return detailed contact information (i.e., normal, contact point, depth; otherwise only contact primitive id is returned), this function performs the collision between them. Return value is the number of contacts generated between the two objects. More...
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CollisionRequestFlag | operator~ (CollisionRequestFlag a) |
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CollisionRequestFlag | operator| (CollisionRequestFlag a, CollisionRequestFlag b) |
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CollisionRequestFlag | operator & (CollisionRequestFlag a, CollisionRequestFlag b) |
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CollisionRequestFlag | operator^ (CollisionRequestFlag a, CollisionRequestFlag b) |
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CollisionRequestFlag & | operator|= (CollisionRequestFlag &a, CollisionRequestFlag b) |
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CollisionRequestFlag & | operator &= (CollisionRequestFlag &a, CollisionRequestFlag b) |
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CollisionRequestFlag & | operator^= (CollisionRequestFlag &a, CollisionRequestFlag b) |
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CollisionGeometry * | extract (const CollisionGeometry *model, const Transform3f &pose, const AABB &aabb) |
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FCL_REAL | distance (const CollisionObject *o1, const CollisionObject *o2, const DistanceRequest &request, DistanceResult &result) |
| Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects. More...
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FCL_REAL | distance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) |
| Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. Return value is the minimum distance generated between the two objects. More...
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template<typename BV > |
void | fit (Vec3f *ps, int n, BV &bv) |
| Compute a bounding volume that fits a set of n points. More...
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template<> |
void | fit< OBB > (Vec3f *ps, int n, OBB &bv) |
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template<> |
void | fit< RSS > (Vec3f *ps, int n, RSS &bv) |
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template<> |
void | fit< kIOS > (Vec3f *ps, int n, kIOS &bv) |
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template<> |
void | fit< OBBRSS > (Vec3f *ps, int n, OBBRSS &bv) |
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template<> |
void | fit< AABB > (Vec3f *ps, int n, AABB &bv) |
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template<typename Derived1 , typename Derived2 , typename Derived3 > |
void | generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v) |
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template<typename Derived , typename OtherDerived > |
void | relativeTransform (const Eigen::MatrixBase< Derived > &R1, const Eigen::MatrixBase< OtherDerived > &t1, const Eigen::MatrixBase< Derived > &R2, const Eigen::MatrixBase< OtherDerived > &t2, const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &t) |
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template<typename Derived , typename Vector > |
void | eigen (const Eigen::MatrixBase< Derived > &m, typename Derived::Scalar dout[3], Vector *vout) |
| compute the eigen vector and eigen vector of a matrix. dout is the eigen values, vout is the eigen vectors More...
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template<typename Derived , typename OtherDerived > |
bool | isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const FCL_REAL tol=std::numeric_limits< FCL_REAL >::epsilon() *100) |
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template<typename Derived > |
Quaternion3f | fromAxisAngle (const Eigen::MatrixBase< Derived > &axis, FCL_REAL angle) |
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template<class BoundingVolume > |
void | loadPolyhedronFromResource (const std::string &resource_path, const fcl::Vec3f &scale, const boost::shared_ptr< BVHModel< BoundingVolume > > &polyhedron) |
| Read a mesh file and convert it to a polyhedral mesh. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3f &pose) |
| Generate BVH model from box. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int seg, unsigned int ring) |
| Generate BVH model from sphere, given the number of segments along longitude and number of rings along latitude. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Sphere &shape, const Transform3f &pose, unsigned int n_faces_for_unit_sphere) |
| Generate BVH model from sphere The difference between generateBVHModel is that it gives the number of triangles faces N for a sphere with unit radius. For sphere of radius r, then the number of triangles is r * r * N so that the area represented by a single triangle is approximately the same.s. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num) |
| Generate BVH model from cylinder, given the number of segments along circle and the number of segments along axis. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cylinder &shape, const Transform3f &pose, unsigned int tot_for_unit_cylinder) |
| Generate BVH model from cylinder Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cylinder with larger radius, the number of circle split number is r * tot. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot, unsigned int h_num) |
| Generate BVH model from cone, given the number of segments along circle and the number of segments along axis. More...
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template<typename BV > |
void | generateBVHModel (BVHModel< BV > &model, const Cone &shape, const Transform3f &pose, unsigned int tot_for_unit_cone) |
| Generate BVH model from cone Difference from generateBVHModel: is that it gives the circle split number tot for a cylinder with unit radius. For cone with larger radius, the number of circle split number is r * tot. More...
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template<typename BV , typename S > |
void | computeBV (const S &s, const Transform3f &tf, BV &bv) |
| calculate a bounding volume for a shape in a specific configuration More...
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template<> |
void | computeBV< AABB, Box > (const Box &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Sphere > (const Sphere &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Capsule > (const Capsule &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Cone > (const Cone &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< AABB, Plane > (const Plane &s, const Transform3f &tf, AABB &bv) |
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template<> |
void | computeBV< OBB, Box > (const Box &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Sphere > (const Sphere &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Capsule > (const Capsule &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Cone > (const Cone &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, ConvexBase > (const ConvexBase &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3f &tf, RSS &bv) |
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template<> |
void | computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3f &tf, OBBRSS &bv) |
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template<> |
void | computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3f &tf, kIOS &bv) |
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template<> |
void | computeBV< KDOP< 16 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 16 > &bv) |
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template<> |
void | computeBV< KDOP< 18 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 18 > &bv) |
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template<> |
void | computeBV< KDOP< 24 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 24 > &bv) |
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template<> |
void | computeBV< OBB, Plane > (const Plane &s, const Transform3f &tf, OBB &bv) |
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template<> |
void | computeBV< RSS, Plane > (const Plane &s, const Transform3f &tf, RSS &bv) |
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template<> |
void | computeBV< OBBRSS, Plane > (const Plane &s, const Transform3f &tf, OBBRSS &bv) |
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template<> |
void | computeBV< kIOS, Plane > (const Plane &s, const Transform3f &tf, kIOS &bv) |
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template<> |
void | computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 16 > &bv) |
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template<> |
void | computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 18 > &bv) |
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template<> |
void | computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 24 > &bv) |
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void | constructBox (const AABB &bv, Box &box, Transform3f &tf) |
| construct a box shape (with a configuration) from a given bounding volume More...
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void | constructBox (const OBB &bv, Box &box, Transform3f &tf) |
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void | constructBox (const OBBRSS &bv, Box &box, Transform3f &tf) |
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void | constructBox (const kIOS &bv, Box &box, Transform3f &tf) |
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void | constructBox (const RSS &bv, Box &box, Transform3f &tf) |
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void | constructBox (const KDOP< 16 > &bv, Box &box, Transform3f &tf) |
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void | constructBox (const KDOP< 18 > &bv, Box &box, Transform3f &tf) |
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void | constructBox (const KDOP< 24 > &bv, Box &box, Transform3f &tf) |
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void | constructBox (const AABB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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void | constructBox (const OBB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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void | constructBox (const OBBRSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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void | constructBox (const kIOS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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void | constructBox (const RSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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void | constructBox (const KDOP< 16 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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void | constructBox (const KDOP< 18 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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void | constructBox (const KDOP< 24 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
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Halfspace | transform (const Halfspace &a, const Transform3f &tf) |
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Plane | transform (const Plane &a, const Transform3f &tf) |
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bool | obbDisjointAndLowerBoundDistance (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, const CollisionRequest &request, FCL_REAL &squaredLowerBoundDistance) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Sphere,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Capsule,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Sphere, Plane,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Box, Plane,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Capsule, Plane,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cylinder, Plane,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Cone, Plane,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF (Plane,) |
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| HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR (Plane, Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_TRIANGLE (Sphere,) |
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| HPP_FCL_DECLARE_SHAPE_TRIANGLE (Halfspace,) |
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| HPP_FCL_DECLARE_SHAPE_TRIANGLE (Plane,) |
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| HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Box,) |
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| HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Capsule,) |
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| HPP_FCL_DECLARE_SHAPE_DISTANCE_PAIR (Sphere, Cylinder,) |
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| HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Sphere,) |
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| HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (Capsule,) |
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| HPP_FCL_DECLARE_SHAPE_DISTANCE_SELF (TriangleP,) |
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