hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
tools.h File Reference
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <cmath>
#include <iostream>
#include <limits>
#include <hpp/fcl/deprecated.hh>
#include <hpp/fcl/config.hh>
#include <hpp/fcl/data_types.h>
Include dependency graph for tools.h:

Go to the source code of this file.

Namespaces

 hpp
 Main namespace.
 
 hpp::fcl
 

Functions

template<typename Derived1 , typename Derived2 , typename Derived3 >
void hpp::fcl::generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v)
 
template<typename Derived , typename OtherDerived >
void hpp::fcl::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)
 
template<typename Derived , typename Vector >
void hpp::fcl::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...
 
template<typename Derived , typename OtherDerived >
bool hpp::fcl::isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const FCL_REAL tol=std::numeric_limits< FCL_REAL >::epsilon() *100)