Namespaces | Functions
tools.h File Reference
#include <hpp/fcl/deprecated.hh>
#include <hpp/fcl/config.hh>
#include <hpp/fcl/config-fcl.hh>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <cmath>
#include <iostream>
#include <limits>
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Namespaces

namespace  fcl
 

Main namespace.


Functions

template<typename Derived >
static Derived::Scalar fcl::triple (const Eigen::MatrixBase< Derived > &x, const Eigen::MatrixBase< Derived > &y, const Eigen::MatrixBase< Derived > &z)
template<typename Derived1 , typename Derived2 , typename Derived3 >
void fcl::generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v)
template<typename Derived , typename OtherDerived >
void fcl::hat (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec)
template<typename Derived , typename OtherDerived >
void 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 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
template<typename Derived , typename OtherDerived >
Derived::Scalar fcl::quadraticForm (const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &v)
template<typename Derived , typename OtherDerived >
bool fcl::isEqual (const Eigen::MatrixBase< Derived > &lhs, const Eigen::MatrixBase< OtherDerived > &rhs, const FCL_REAL tol=std::numeric_limits< FCL_REAL >::epsilon()*100)
template<typename Derived >
Derived & fcl::setEulerZYX (const Eigen::MatrixBase< Derived > &R, FCL_REAL eulerX, FCL_REAL eulerY, FCL_REAL eulerZ)
template<typename Derived >
Derived & fcl::setEulerYPR (const Eigen::MatrixBase< Derived > &R, FCL_REAL yaw, FCL_REAL pitch, FCL_REAL roll)
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