#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>
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) |