Main namespace. More...
Namespaces | |
namespace | details |
for OBB and RSS, there is local coordinate of BV, so normal need to be transformed | |
namespace | implementation_array |
namespace | time |
Namespace containing time datatypes and time operations. | |
namespace | tools |
Classes | |
class | BroadPhaseCollisionManager |
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More... | |
class | NaiveCollisionManager |
Brute force N-body collision manager. More... | |
class | DynamicAABBTreeCollisionManager |
class | DynamicAABBTreeCollisionManager_Array |
class | IntervalTreeCollisionManager |
Collision manager based on interval tree. More... | |
class | SaPCollisionManager |
Rigorous SAP collision manager. More... | |
struct | SpatialHash |
Spatial hash function: hash an AABB to a set of integer values. More... | |
class | SpatialHashingCollisionManager |
spatial hashing collision mananger More... | |
class | SSaPCollisionManager |
Simple SAP collision manager. More... | |
class | SimpleHashTable |
A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., }. More... | |
class | unordered_map_hash_table |
class | SparseHashTable |
A hash table implemented using unordered_map. More... | |
struct | NodeBase |
dynamic AABB tree node More... | |
class | HierarchyTree |
Class for hierarchy tree structure. More... | |
struct | SimpleInterval |
Interval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest. More... | |
class | IntervalTreeNode |
The node for interval tree. More... | |
class | IntervalTree |
Interval tree. More... | |
struct | morton_functor |
Functor to compute the morton code for a given AABB. More... | |
struct | morton_functor< FCL_UINT32 > |
Functor to compute 30 bit morton code for a given AABB. More... | |
struct | morton_functor< FCL_UINT64 > |
Functor to compute 60 bit morton code for a given AABB. More... | |
struct | morton_functor< boost::dynamic_bitset<> > |
Functor to compute n bit morton code for a given AABB. More... | |
class | AABB |
A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More... | |
struct | BVNodeBase |
BVNodeBase encodes the tree structure for BVH. More... | |
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... | |
class | KDOP |
KDOP class describes the KDOP collision structures. More... | |
class | kIOS |
A class describing the kIOS collision structure, which is a set of spheres. More... | |
class | OBB |
Oriented bounding box class. More... | |
class | OBBRSS |
Class merging the OBB and RSS, can handle collision and distance simultaneously. More... | |
class | RSS |
A class for rectangle sphere-swept bounding volume. More... | |
class | BVFitterBase |
Interface for fitting a bv given the triangles or points inside it. More... | |
class | BVFitter |
The class for the default algorithm fitting a bounding volume to a set of points. More... | |
class | BVFitter< OBB > |
Specification of BVFitter for OBB bounding volume. More... | |
class | BVFitter< RSS > |
Specification of BVFitter for RSS bounding volume. More... | |
class | BVFitter< kIOS > |
Specification of BVFitter for kIOS bounding volume. More... | |
class | BVFitter< OBBRSS > |
Specification of BVFitter for OBBRSS bounding volume. More... | |
class | BVSplitterBase |
Base interface for BV splitting algorithm. More... | |
class | BVSplitter |
A class describing the split rule that splits each BV node. More... | |
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. More... | |
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... | |
struct | Contact |
Contact information returned by collision. More... | |
struct | CostSource |
Cost source describes an area with a cost. The area is described by an AABB region. More... | |
struct | CollisionRequest |
request to the collision algorithm More... | |
struct | CollisionResult |
collision result More... | |
struct | DistanceRequest |
request to the distance computation More... | |
struct | DistanceResult |
distance result More... | |
struct | CollisionFunctionMatrix |
collision matrix stores the functions for collision between different types of objects and provides a uniform call interface More... | |
class | CollisionGeometry |
The geometry for the object for collision or distance computation. More... | |
class | CollisionObject |
the object for collision or distance computation, contains the geometry and the transform information More... | |
class | Triangle |
Triangle with 3 indices for points. More... | |
struct | DistanceFunctionMatrix |
distance matrix stores the functions for distance between different types of objects and provides a uniform call interface More... | |
class | Exception |
class | PolySolver |
A class solves polynomial degree (1,2,3) equations. More... | |
class | Intersect |
CCD intersect kernel among primitives. More... | |
class | Project |
Project functions. More... | |
class | TriangleDistance |
Triangle distance functions. More... | |
class | Variance3f |
Class for variance matrix in 3d. More... | |
class | Transform3f |
Simple transform class used locally by InterpMotion. More... | |
struct | TriangleAndVertices |
struct | GJKSolver_indep |
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet) More... | |
class | OcTree |
Octree is one type of collision geometry which can encode uncertainty information in the sensor data. More... | |
class | ShapeBase |
Base class for all basic geometric shapes. More... | |
class | TriangleP |
Triangle stores the points instead of only indices of points. More... | |
class | Box |
Center at zero point, axis aligned box. More... | |
class | Sphere |
Center at zero point sphere. More... | |
class | Capsule |
Center at zero point capsule. More... | |
class | Cone |
Center at zero cone. More... | |
class | Cylinder |
Center at zero cylinder. More... | |
class | Convex |
Convex polytope. More... | |
class | Halfspace |
Half Space: this is equivalent to the Plane in ODE. More... | |
class | Plane |
Infinite plane. More... | |
class | TraversalNodeBase |
Node structure encoding the information required for traversal. More... | |
class | CollisionTraversalNodeBase |
Node structure encoding the information required for collision traversal. More... | |
class | DistanceTraversalNodeBase |
Node structure encoding the information required for distance traversal. More... | |
class | BVHShapeCollisionTraversalNode |
Traversal node for collision between BVH and shape. More... | |
class | ShapeBVHCollisionTraversalNode |
Traversal node for collision between shape and BVH. More... | |
class | MeshShapeCollisionTraversalNode |
Traversal node for collision between mesh and shape. More... | |
class | MeshShapeCollisionTraversalNodeOBB |
Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More... | |
class | MeshShapeCollisionTraversalNodeRSS |
class | MeshShapeCollisionTraversalNodekIOS |
class | MeshShapeCollisionTraversalNodeOBBRSS |
class | ShapeMeshCollisionTraversalNode |
Traversal node for collision between shape and mesh. More... | |
class | ShapeMeshCollisionTraversalNodeOBB |
Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More... | |
class | ShapeMeshCollisionTraversalNodeRSS |
class | ShapeMeshCollisionTraversalNodekIOS |
class | ShapeMeshCollisionTraversalNodeOBBRSS |
class | BVHShapeDistanceTraversalNode |
Traversal node for distance computation between BVH and shape. More... | |
class | ShapeBVHDistanceTraversalNode |
Traversal node for distance computation between shape and BVH. More... | |
class | MeshShapeDistanceTraversalNode |
Traversal node for distance between mesh and shape. More... | |
class | MeshShapeDistanceTraversalNodeRSS |
Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) More... | |
class | MeshShapeDistanceTraversalNodekIOS |
class | MeshShapeDistanceTraversalNodeOBBRSS |
class | ShapeMeshDistanceTraversalNode |
Traversal node for distance between shape and mesh. More... | |
class | ShapeMeshDistanceTraversalNodeRSS |
class | ShapeMeshDistanceTraversalNodekIOS |
class | ShapeMeshDistanceTraversalNodeOBBRSS |
class | BVHCollisionTraversalNode |
Traversal node for collision between BVH models. More... | |
class | MeshCollisionTraversalNode |
Traversal node for collision between two meshes. More... | |
class | MeshCollisionTraversalNodeOBB |
Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) More... | |
class | MeshCollisionTraversalNodeRSS |
class | MeshCollisionTraversalNodekIOS |
class | MeshCollisionTraversalNodeOBBRSS |
class | BVHDistanceTraversalNode |
Traversal node for distance computation between BVH models. More... | |
class | MeshDistanceTraversalNode |
Traversal node for distance computation between two meshes. More... | |
class | MeshDistanceTraversalNodeRSS |
Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS) More... | |
class | MeshDistanceTraversalNodekIOS |
class | MeshDistanceTraversalNodeOBBRSS |
class | OcTreeSolver |
Algorithms for collision related with octree. More... | |
class | OcTreeCollisionTraversalNode |
Traversal node for octree collision. More... | |
class | OcTreeDistanceTraversalNode |
Traversal node for octree distance. More... | |
class | ShapeOcTreeCollisionTraversalNode |
Traversal node for shape-octree collision. More... | |
class | OcTreeShapeCollisionTraversalNode |
Traversal node for octree-shape collision. More... | |
class | ShapeOcTreeDistanceTraversalNode |
Traversal node for shape-octree distance. More... | |
class | OcTreeShapeDistanceTraversalNode |
Traversal node for octree-shape distance. More... | |
class | MeshOcTreeCollisionTraversalNode |
Traversal node for mesh-octree collision. More... | |
class | OcTreeMeshCollisionTraversalNode |
Traversal node for octree-mesh collision. More... | |
class | MeshOcTreeDistanceTraversalNode |
Traversal node for mesh-octree distance. More... | |
class | OcTreeMeshDistanceTraversalNode |
Traversal node for octree-mesh distance. More... | |
class | ShapeCollisionTraversalNode |
Traversal node for collision between two shapes. More... | |
class | ShapeDistanceTraversalNode |
Traversal node for distance between two shapes. More... | |
Typedefs | |
typedef bool(* | CollisionCallBack )(CollisionObject *o1, CollisionObject *o2, void *cdata) |
Callback for collision between two objects. Return value is whether can stop now. | |
typedef bool(* | DistanceCallBack )(CollisionObject *o1, CollisionObject *o2, void *cdata, FCL_REAL &dist) |
Callback for distance between two objects, Return value is whether can stop now, also return the minimum distance till now. | |
typedef std::list< BVHFrontNode > | BVHFrontList |
BVH front list is a list of front nodes. | |
typedef double | FCL_REAL |
typedef boost::uint64_t | FCL_INT64 |
typedef boost::int64_t | FCL_UINT64 |
typedef boost::uint32_t | FCL_UINT32 |
typedef boost::int32_t | FCL_INT32 |
typedef boost::shared_ptr < CollisionObject > | CollisionObjectPtr_t |
typedef boost::shared_ptr < const CollisionObject > | CollisionObjectConstPtr_t |
typedef boost::shared_ptr < CollisionGeometry > | CollisionGeometryPtr_t |
typedef boost::shared_ptr < const CollisionGeometry > | CollisionGeometryConstPtr_t |
typedef Eigen::Matrix < FCL_REAL, 3, 3 > | Matrix3f |
typedef Eigen::Quaternion < FCL_REAL > | Quaternion3f |
typedef Eigen::Matrix < FCL_REAL, 3, 1 > | Vec3f |
Enumerations | |
enum | SplitMethodType { SPLIT_METHOD_MEAN, SPLIT_METHOD_MEDIAN, SPLIT_METHOD_BV_CENTER } |
Three types of split algorithms are provided in FCL as default. More... | |
enum | BVHBuildState { BVH_BUILD_STATE_EMPTY, BVH_BUILD_STATE_BEGUN, BVH_BUILD_STATE_PROCESSED, BVH_BUILD_STATE_UPDATE_BEGUN, BVH_BUILD_STATE_UPDATED, BVH_BUILD_STATE_REPLACE_BEGUN } |
States for BVH construction empty->begun->processed ->replace_begun->processed -> ...... More... | |
enum | BVHReturnCode { BVH_OK = 0, BVH_ERR_MODEL_OUT_OF_MEMORY = -1, BVH_ERR_BUILD_OUT_OF_SEQUENCE = -2, BVH_ERR_BUILD_EMPTY_MODEL = -3, BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -4, BVH_ERR_UNSUPPORTED_FUNCTION = -5, BVH_ERR_UNUPDATED_MODEL = -6, BVH_ERR_INCORRECT_DATA = -7, BVH_ERR_UNKNOWN = -8 } |
Error code for BVH. More... | |
enum | BVHModelType { BVH_MODEL_UNKNOWN, BVH_MODEL_TRIANGLES, BVH_MODEL_POINTCLOUD } |
BVH model type. More... | |
enum | GJKSolverType { GST_INDEP } |
Type of narrow phase GJK solver. More... | |
enum | OBJECT_TYPE { OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE, OT_COUNT } |
object type: BVH (mesh, points), basic geometry, octree More... | |
enum | NODE_TYPE { BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18, BV_KDOP24, GEOM_BOX, GEOM_SPHERE, GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE, NODE_COUNT } |
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree More... | |
Functions | |
template<typename BV > | |
bool | nodeBaseLess (NodeBase< BV > *a, NodeBase< BV > *b, int d) |
Compare two nodes accoording to the d-th dimension of node center. | |
template<typename BV > | |
size_t | select (const NodeBase< BV > &query, const NodeBase< BV > &node1, const NodeBase< BV > &node2) |
select from node1 and node2 which is close to a given query. 0 for node1 and 1 for node2 | |
template<> | |
size_t | select (const NodeBase< AABB > &node, const NodeBase< AABB > &node1, const NodeBase< AABB > &node2) |
template<typename BV > | |
size_t | select (const BV &query, const NodeBase< BV > &node1, const NodeBase< BV > &node2) |
select from node1 and node2 which is close to a given query bounding volume. 0 for node1 and 1 for node2 | |
template<> | |
size_t | select (const AABB &query, const NodeBase< AABB > &node1, const NodeBase< AABB > &node2) |
static AABB | translate (const AABB &aabb, const Vec3f &t) |
translate the center of AABB by t | |
static AABB | rotate (const AABB &aabb, const Matrix3f &t) |
template<typename BV1 , typename BV2 > | |
static void | convertBV (const BV1 &bv1, const Transform3f &tf1, BV2 &bv2) |
Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration. | |
template<size_t N> | |
KDOP< N > | translate (const KDOP< N > &bv, const Vec3f &t) |
translate the KDOP BV | |
kIOS | translate (const kIOS &bv, const Vec3f &t) |
Translate the kIOS BV. | |
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. | |
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. | |
OBB | translate (const OBB &bv, const Vec3f &t) |
Translate the OBB bv. | |
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. | |
bool | overlap (const Matrix3f &R0, const Vec3f &T0, const OBB &b1, const OBB &b2, FCL_REAL &sqrDistLowerBound) |
Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. | |
bool | obbDisjoint (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b) |
Check collision between two boxes. | |
OBBRSS | translate (const OBBRSS &bv, const Vec3f &t) |
Translate the OBBRSS bv. | |
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. | |
bool | overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, FCL_REAL &sqrDistLowerBound) |
Check collision between two OBBRSS. | |
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. | |
RSS | translate (const RSS &bv, const Vec3f &t) |
Translate the RSS bv. | |
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. | |
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. | |
template<typename BV > | |
void | fit (Vec3f *ps, int n, BV &bv) |
Compute a bounding volume that fits a set of n points. | |
template<> | |
void | fit< OBB > (Vec3f *ps, int n, OBB &bv) |
template<> | |
void | fit< RSS > (Vec3f *ps, int n, RSS &bv) |
template<> | |
void | fit< kIOS > (Vec3f *ps, int n, kIOS &bv) |
template<> | |
void | fit< OBBRSS > (Vec3f *ps, int n, OBBRSS &bv) |
void | updateFrontList (BVHFrontList *front_list, int b1, int b2) |
Add new front node into the front list. | |
template<typename BV > | |
void | BVHExpand (BVHModel< BV > &model, const Variance3f *ucs, FCL_REAL r) |
Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node. | |
void | BVHExpand (BVHModel< OBB > &model, const Variance3f *ucs, FCL_REAL r) |
Expand the BVH bounding boxes according to the corresponding variance information, for OBB. | |
void | BVHExpand (BVHModel< RSS > &model, const Variance3f *ucs, FCL_REAL r) |
Expand the BVH bounding boxes according to the corresponding variance information, for RSS. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
std::size_t | collide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) |
void | collide (CollisionTraversalNodeBase *node, FCL_REAL &sqrDistLowerBound, BVHFrontList *front_list=NULL) |
collision on collision traversal node | |
void | selfCollide (CollisionTraversalNodeBase *node, BVHFrontList *front_list=NULL) |
self collision on collision traversal node; can use front list to accelerate | |
void | distance (DistanceTraversalNodeBase *node, BVHFrontList *front_list=NULL, int qsize=2) |
distance computation on distance traversal node; can use front list to accelerate | |
void | collide2 (MeshCollisionTraversalNodeOBB *node, BVHFrontList *front_list=NULL) |
special collision on OBB traversal node | |
void | collide2 (MeshCollisionTraversalNodeRSS *node, BVHFrontList *front_list=NULL) |
special collision on RSS traversal node | |
CollisionGeometry * | extract (const CollisionGeometry *model, const Transform3f &pose, const AABB &aabb) |
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. | |
FCL_REAL | distance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) |
template<typename Derived > | |
static Derived::Scalar | triple (const Eigen::MatrixBase< Derived > &x, const Eigen::MatrixBase< Derived > &y, const Eigen::MatrixBase< Derived > &z) |
template<typename Derived1 , typename Derived2 , typename Derived3 > | |
void | generateCoordinateSystem (const Eigen::MatrixBase< Derived1 > &_w, const Eigen::MatrixBase< Derived2 > &_u, const Eigen::MatrixBase< Derived3 > &_v) |
template<typename Derived , typename OtherDerived > | |
void | hat (const Eigen::MatrixBase< Derived > &mat, const Eigen::MatrixBase< OtherDerived > &vec) |
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) |
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 | |
template<typename Derived , typename OtherDerived > | |
Derived::Scalar | quadraticForm (const Eigen::MatrixBase< Derived > &R, const Eigen::MatrixBase< OtherDerived > &v) |
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) |
template<typename Derived > | |
Derived & | setEulerZYX (const Eigen::MatrixBase< Derived > &R, FCL_REAL eulerX, FCL_REAL eulerY, FCL_REAL eulerZ) |
template<typename Derived > | |
Derived & | setEulerYPR (const Eigen::MatrixBase< Derived > &R, FCL_REAL yaw, FCL_REAL pitch, FCL_REAL roll) |
static std::ostream & | operator<< (std::ostream &o, const Quaternion3f &q) |
bool | isQuatIdentity (const Quaternion3f &q) |
bool | areQuatEquals (const Quaternion3f &q1, const Quaternion3f &q2) |
Transform3f | inverse (const Transform3f &tf) |
inverse the transform | |
void | relativeTransform (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf) |
compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1) | |
void | relativeTransform2 (const Transform3f &tf1, const Transform3f &tf2, Transform3f &tf) |
compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system) | |
template<class BoundingVolume > | |
void | meshFromAssimpScene (const std::string &name, const fcl::Vec3f &scale, const aiScene *scene, const boost::shared_ptr< BVHModel< BoundingVolume > > &mesh) throw (std::invalid_argument) |
Convert an assimp scene to a mesh. | |
template<class BoundingVolume > | |
void | buildMesh (const fcl::Vec3f &scale, const aiScene *scene, const aiNode *node, std::vector< unsigned > &subMeshIndexes, const boost::shared_ptr< BVHModel< BoundingVolume > > &mesh, TriangleAndVertices &tv) |
Recursive procedure for building a mesh. | |
template<class BoundingVolume > | |
void | loadPolyhedronFromResource (const std::string &resource_path, const fcl::Vec3f &scale, const boost::shared_ptr< BVHModel< BoundingVolume > > &polyhedron) throw (std::invalid_argument) |
Read a mesh file and convert it to a polyhedral mesh. | |
static void | computeChildBV (const AABB &root_bv, unsigned int i, AABB &child_bv) |
compute the bounding volume of an octree node's i-th child | |
template<typename BV > | |
void | generateBVHModel (BVHModel< BV > &model, const Box &shape, const Transform3f &pose) |
Generate BVH model from box. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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. | |
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 | |
template<> | |
void | computeBV< AABB, Box > (const Box &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, Sphere > (const Sphere &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, Capsule > (const Capsule &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, Cone > (const Cone &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, Cylinder > (const Cylinder &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, Convex > (const Convex &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, TriangleP > (const TriangleP &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, Halfspace > (const Halfspace &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< AABB, Plane > (const Plane &s, const Transform3f &tf, AABB &bv) |
template<> | |
void | computeBV< OBB, Box > (const Box &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< OBB, Sphere > (const Sphere &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< OBB, Capsule > (const Capsule &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< OBB, Cone > (const Cone &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< OBB, Cylinder > (const Cylinder &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< OBB, Convex > (const Convex &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< OBB, Halfspace > (const Halfspace &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< RSS, Halfspace > (const Halfspace &s, const Transform3f &tf, RSS &bv) |
template<> | |
void | computeBV< OBBRSS, Halfspace > (const Halfspace &s, const Transform3f &tf, OBBRSS &bv) |
template<> | |
void | computeBV< kIOS, Halfspace > (const Halfspace &s, const Transform3f &tf, kIOS &bv) |
template<> | |
void | computeBV< KDOP< 16 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 16 > &bv) |
template<> | |
void | computeBV< KDOP< 18 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 18 > &bv) |
template<> | |
void | computeBV< KDOP< 24 >, Halfspace > (const Halfspace &s, const Transform3f &tf, KDOP< 24 > &bv) |
template<> | |
void | computeBV< OBB, Plane > (const Plane &s, const Transform3f &tf, OBB &bv) |
template<> | |
void | computeBV< RSS, Plane > (const Plane &s, const Transform3f &tf, RSS &bv) |
template<> | |
void | computeBV< OBBRSS, Plane > (const Plane &s, const Transform3f &tf, OBBRSS &bv) |
template<> | |
void | computeBV< kIOS, Plane > (const Plane &s, const Transform3f &tf, kIOS &bv) |
template<> | |
void | computeBV< KDOP< 16 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 16 > &bv) |
template<> | |
void | computeBV< KDOP< 18 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 18 > &bv) |
template<> | |
void | computeBV< KDOP< 24 >, Plane > (const Plane &s, const Transform3f &tf, KDOP< 24 > &bv) |
void | constructBox (const AABB &bv, Box &box, Transform3f &tf) |
construct a box shape (with a configuration) from a given bounding volume | |
void | constructBox (const OBB &bv, Box &box, Transform3f &tf) |
void | constructBox (const OBBRSS &bv, Box &box, Transform3f &tf) |
void | constructBox (const kIOS &bv, Box &box, Transform3f &tf) |
void | constructBox (const RSS &bv, Box &box, Transform3f &tf) |
void | constructBox (const KDOP< 16 > &bv, Box &box, Transform3f &tf) |
void | constructBox (const KDOP< 18 > &bv, Box &box, Transform3f &tf) |
void | constructBox (const KDOP< 24 > &bv, Box &box, Transform3f &tf) |
void | constructBox (const AABB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
void | constructBox (const OBB &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
void | constructBox (const OBBRSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
void | constructBox (const kIOS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
void | constructBox (const RSS &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
void | constructBox (const KDOP< 16 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
void | constructBox (const KDOP< 18 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
void | constructBox (const KDOP< 24 > &bv, const Transform3f &tf_bv, Box &box, Transform3f &tf) |
Halfspace | transform (const Halfspace &a, const Transform3f &tf) |
Plane | transform (const Plane &a, const Transform3f &tf) |
template<typename S1 , typename S2 , typename NarrowPhaseSolver > | |
bool | initialize (ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize traversal node for collision between two geometric shapes, given current object transform. | |
template<typename BV , typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false) |
Initialize traversal node for collision between one mesh and one shape, given current object transform. | |
template<typename S , typename BV , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false) |
Initialize traversal node for collision between one mesh and one shape, given current object transform. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &node, const BVHModel< OBB > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBB > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type. | |
template<typename BV > | |
bool | initialize (MeshCollisionTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const CollisionRequest &request, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false) |
Initialize traversal node for collision between two meshes, given the current transforms. | |
bool | initialize (MeshCollisionTraversalNodeOBB &node, const BVHModel< OBB > &model1, const Transform3f &tf1, const BVHModel< OBB > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) |
Initialize traversal node for collision between two meshes, specialized for OBB type. | |
bool | initialize (MeshCollisionTraversalNodeRSS &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) |
Initialize traversal node for collision between two meshes, specialized for RSS type. | |
bool | initialize (MeshCollisionTraversalNodeOBBRSS &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) |
Initialize traversal node for collision between two meshes, specialized for OBBRSS type. | |
bool | initialize (MeshCollisionTraversalNodekIOS &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) |
Initialize traversal node for collision between two meshes, specialized for kIOS type. | |
template<typename S1 , typename S2 , typename NarrowPhaseSolver > | |
bool | initialize (ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance between two geometric shapes. | |
template<typename BV > | |
bool | initialize (MeshDistanceTraversalNode< BV > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false) |
Initialize traversal node for distance computation between two meshes, given the current transforms. | |
bool | initialize (MeshDistanceTraversalNodeRSS &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between two meshes, specialized for RSS type. | |
bool | initialize (MeshDistanceTraversalNodekIOS &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between two meshes, specialized for kIOS type. | |
bool | initialize (MeshDistanceTraversalNodeOBBRSS &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type. | |
template<typename BV , typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver > &node, BVHModel< BV > &model1, Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false) |
Initialize traversal node for distance computation between one mesh and one shape, given the current transforms. | |
template<typename S , typename BV , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false) |
Initialize traversal node for distance computation between one shape and one mesh, given the current transforms. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type. | |
template<typename S , typename NarrowPhaseSolver > | |
bool | initialize (ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type. | |
void | collisionRecurse (CollisionTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list, FCL_REAL &sqrDistLowerBound) |
Recurse function for collision. | |
void | collisionRecurse (MeshCollisionTraversalNodeOBB *node, int b1, int b2, const Matrix3f &R, const Vec3f &T, BVHFrontList *front_list) |
Recurse function for collision, specialized for OBB type. | |
void | collisionRecurse (MeshCollisionTraversalNodeRSS *node, int b1, int b2, const Matrix3f &R, const Vec3f &T, BVHFrontList *front_list) |
Recurse function for collision, specialized for RSS type. | |
void | selfCollisionRecurse (CollisionTraversalNodeBase *node, int b, BVHFrontList *front_list) |
Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same. | |
void | distanceRecurse (DistanceTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list) |
Recurse function for distance. | |
void | distanceQueueRecurse (DistanceTraversalNodeBase *node, int b1, int b2, BVHFrontList *front_list, int qsize) |
Recurse function for distance, using queue acceleration. | |
void | propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase *node, BVHFrontList *front_list, FCL_REAL &sqrDistLowerBound) |
Recurse function for front list propagation. | |
bool | obbDisjointAndLowerBoundDistance (const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b, FCL_REAL &squaredLowerBoundDistance) |
template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver > | |
FCL_REAL | ShapeShapeDistance (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
template<typename T_SH1 , typename T_SH2 , typename NarrowPhaseSolver > | |
std::size_t | ShapeShapeCollide (const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const CollisionRequest &request, CollisionResult &result) |
Main namespace.
collision and distance function on traversal nodes. these functions provide a higher level abstraction for collision functions provided in collision_func_matrix
typedef std::list<BVHFrontNode> fcl::BVHFrontList |
BVH front list is a list of front nodes.
typedef bool(* fcl::CollisionCallBack)(CollisionObject *o1, CollisionObject *o2, void *cdata) |
Callback for collision between two objects. Return value is whether can stop now.
typedef boost::shared_ptr<const CollisionGeometry> fcl::CollisionGeometryConstPtr_t |
typedef boost::shared_ptr<CollisionGeometry> fcl::CollisionGeometryPtr_t |
typedef boost::shared_ptr< const CollisionObject> fcl::CollisionObjectConstPtr_t |
typedef boost::shared_ptr<CollisionObject> fcl::CollisionObjectPtr_t |
typedef bool(* fcl::DistanceCallBack)(CollisionObject *o1, CollisionObject *o2, void *cdata, FCL_REAL &dist) |
Callback for distance between two objects, Return value is whether can stop now, also return the minimum distance till now.
typedef boost::int32_t fcl::FCL_INT32 |
typedef boost::uint64_t fcl::FCL_INT64 |
typedef double fcl::FCL_REAL |
typedef boost::uint32_t fcl::FCL_UINT32 |
typedef boost::int64_t fcl::FCL_UINT64 |
typedef Eigen::Matrix<FCL_REAL, 3, 3> fcl::Matrix3f |
typedef Eigen::Quaternion<FCL_REAL> fcl::Quaternion3f |
typedef Eigen::Matrix<FCL_REAL, 3, 1> fcl::Vec3f |
enum fcl::BVHBuildState |
States for BVH construction empty->begun->processed ->replace_begun->processed -> ......
| |-> update_begun -> updated -> .....
enum fcl::BVHModelType |
enum fcl::BVHReturnCode |
Error code for BVH.
enum fcl::GJKSolverType |
enum fcl::NODE_TYPE |
enum fcl::OBJECT_TYPE |
enum fcl::SplitMethodType |
bool fcl::areQuatEquals | ( | const Quaternion3f & | q1, |
const Quaternion3f & | q2 | ||
) | [inline] |
Referenced by fcl::Transform3f::operator==().
void fcl::buildMesh | ( | const fcl::Vec3f & | scale, |
const aiScene * | scene, | ||
const aiNode * | node, | ||
std::vector< unsigned > & | subMeshIndexes, | ||
const boost::shared_ptr< BVHModel< BoundingVolume > > & | mesh, | ||
TriangleAndVertices & | tv | ||
) | [inline] |
Recursive procedure for building a mesh.
[in] | scale | Scale to apply when reading the ressource |
[in] | scene | Pointer to the assimp scene |
[in] | node | Current node of the scene |
subMeshIndexes | Submesh triangles indexes interval | |
[in] | mesh | The mesh that must be built |
tv | Triangles and Vertices of the mesh submodels |
References transform(), fcl::TriangleAndVertices::triangles_, and fcl::TriangleAndVertices::vertices_.
Referenced by meshFromAssimpScene().
void fcl::BVHExpand | ( | BVHModel< BV > & | model, |
const Variance3f * | ucs, | ||
FCL_REAL | r | ||
) |
Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node.
References fcl::Variance3f::axis, fcl::BVNode< BV >::bv, fcl::BVNodeBase::first_primitive, fcl::BVHModel< BV >::getBV(), fcl::BVNodeBase::num_primitives, fcl::Variance3f::sigma, and fcl::BVHModel< BV >::vertices.
void fcl::BVHExpand | ( | BVHModel< OBB > & | model, |
const Variance3f * | ucs, | ||
FCL_REAL | r | ||
) |
Expand the BVH bounding boxes according to the corresponding variance information, for OBB.
void fcl::BVHExpand | ( | BVHModel< RSS > & | model, |
const Variance3f * | ucs, | ||
FCL_REAL | r | ||
) |
Expand the BVH bounding boxes according to the corresponding variance information, for RSS.
BVHModel<BV>* fcl::BVHExtract | ( | const BVHModel< BV > & | model, |
const Transform3f & | pose, | ||
const AABB & | aabb | ||
) |
void fcl::circumCircleComputation | ( | const Vec3f & | a, |
const Vec3f & | b, | ||
const Vec3f & | c, | ||
Vec3f & | center, | ||
FCL_REAL & | radius | ||
) |
Compute the center and radius for a triangle's circumcircle.
std::size_t fcl::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.
Referenced by fcl::SpatialHashingCollisionManager< HashTable >::collide().
std::size_t fcl::collide | ( | const CollisionGeometry * | o1, |
const Transform3f & | tf1, | ||
const CollisionGeometry * | o2, | ||
const Transform3f & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
void fcl::collide | ( | CollisionTraversalNodeBase * | node, |
FCL_REAL & | sqrDistLowerBound, | ||
BVHFrontList * | front_list = NULL |
||
) |
collision on collision traversal node
node | node containing both objects to test, |
squared | lower bound to the distance between the objects if they do not collide. |
front_list | list of nodes visited by the query, can be used to accelerate computation |
void fcl::collide2 | ( | MeshCollisionTraversalNodeOBB * | node, |
BVHFrontList * | front_list = NULL |
||
) |
special collision on OBB traversal node
void fcl::collide2 | ( | MeshCollisionTraversalNodeRSS * | node, |
BVHFrontList * | front_list = NULL |
||
) |
special collision on RSS traversal node
void fcl::collisionRecurse | ( | CollisionTraversalNodeBase * | node, |
int | b1, | ||
int | b2, | ||
BVHFrontList * | front_list, | ||
FCL_REAL & | sqrDistLowerBound | ||
) |
Recurse function for collision.
node | collision node, |
b1,b2 | ids of bounding volume nodes for object 1 and object 2 |
sqrDistLowerBound | squared lower bound on distance between objects. |
void fcl::collisionRecurse | ( | MeshCollisionTraversalNodeOBB * | node, |
int | b1, | ||
int | b2, | ||
const Matrix3f & | R, | ||
const Vec3f & | T, | ||
BVHFrontList * | front_list | ||
) |
Recurse function for collision, specialized for OBB type.
void fcl::collisionRecurse | ( | MeshCollisionTraversalNodeRSS * | node, |
int | b1, | ||
int | b2, | ||
const Matrix3f & | R, | ||
const Vec3f & | T, | ||
BVHFrontList * | front_list | ||
) |
Recurse function for collision, specialized for RSS type.
void fcl::computeBV | ( | const S & | s, |
const Transform3f & | tf, | ||
BV & | bv | ||
) |
calculate a bounding volume for a shape in a specific configuration
References fit().
Referenced by initialize(), and fcl::details::setupShapeMeshDistanceOrientedNode().
void fcl::computeBV< AABB, Capsule > | ( | const Capsule & | s, |
const Transform3f & | tf, | ||
AABB & | bv | ||
) |
void fcl::computeBV< AABB, Convex > | ( | const Convex & | s, |
const Transform3f & | tf, | ||
AABB & | bv | ||
) |
void fcl::computeBV< AABB, Cylinder > | ( | const Cylinder & | s, |
const Transform3f & | tf, | ||
AABB & | bv | ||
) |
void fcl::computeBV< AABB, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
AABB & | bv | ||
) |
void fcl::computeBV< AABB, Plane > | ( | const Plane & | s, |
const Transform3f & | tf, | ||
AABB & | bv | ||
) |
void fcl::computeBV< AABB, Sphere > | ( | const Sphere & | s, |
const Transform3f & | tf, | ||
AABB & | bv | ||
) |
void fcl::computeBV< AABB, TriangleP > | ( | const TriangleP & | s, |
const Transform3f & | tf, | ||
AABB & | bv | ||
) |
void fcl::computeBV< KDOP< 16 >, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
KDOP< 16 > & | bv | ||
) |
void fcl::computeBV< KDOP< 16 >, Plane > | ( | const Plane & | s, |
const Transform3f & | tf, | ||
KDOP< 16 > & | bv | ||
) |
void fcl::computeBV< KDOP< 18 >, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
KDOP< 18 > & | bv | ||
) |
void fcl::computeBV< KDOP< 18 >, Plane > | ( | const Plane & | s, |
const Transform3f & | tf, | ||
KDOP< 18 > & | bv | ||
) |
void fcl::computeBV< KDOP< 24 >, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
KDOP< 24 > & | bv | ||
) |
void fcl::computeBV< KDOP< 24 >, Plane > | ( | const Plane & | s, |
const Transform3f & | tf, | ||
KDOP< 24 > & | bv | ||
) |
void fcl::computeBV< kIOS, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
kIOS & | bv | ||
) |
void fcl::computeBV< kIOS, Plane > | ( | const Plane & | s, |
const Transform3f & | tf, | ||
kIOS & | bv | ||
) |
void fcl::computeBV< OBB, Capsule > | ( | const Capsule & | s, |
const Transform3f & | tf, | ||
OBB & | bv | ||
) |
void fcl::computeBV< OBB, Convex > | ( | const Convex & | s, |
const Transform3f & | tf, | ||
OBB & | bv | ||
) |
void fcl::computeBV< OBB, Cylinder > | ( | const Cylinder & | s, |
const Transform3f & | tf, | ||
OBB & | bv | ||
) |
void fcl::computeBV< OBB, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
OBB & | bv | ||
) |
void fcl::computeBV< OBB, Sphere > | ( | const Sphere & | s, |
const Transform3f & | tf, | ||
OBB & | bv | ||
) |
void fcl::computeBV< OBBRSS, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
OBBRSS & | bv | ||
) |
void fcl::computeBV< OBBRSS, Plane > | ( | const Plane & | s, |
const Transform3f & | tf, | ||
OBBRSS & | bv | ||
) |
void fcl::computeBV< RSS, Halfspace > | ( | const Halfspace & | s, |
const Transform3f & | tf, | ||
RSS & | bv | ||
) |
static void fcl::computeChildBV | ( | const AABB & | root_bv, |
unsigned int | i, | ||
AABB & | child_bv | ||
) | [inline, static] |
compute the bounding volume of an octree node's i-th child
References fcl::AABB::max_, and fcl::AABB::min_.
void fcl::constructBox | ( | const AABB & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
construct a box shape (with a configuration) from a given bounding volume
void fcl::constructBox | ( | const OBB & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const OBBRSS & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const kIOS & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const RSS & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const KDOP< 16 > & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const KDOP< 18 > & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const KDOP< 24 > & | bv, |
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const AABB & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const OBB & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const OBBRSS & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const kIOS & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const RSS & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const KDOP< 16 > & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const KDOP< 18 > & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
void fcl::constructBox | ( | const KDOP< 24 > & | bv, |
const Transform3f & | tf_bv, | ||
Box & | box, | ||
Transform3f & | tf | ||
) |
static void fcl::convertBV | ( | const BV1 & | bv1, |
const Transform3f & | tf1, | ||
BV2 & | bv2 | ||
) | [inline, static] |
Convert a bounding volume of type BV1 in configuration tf1 to bounding volume of type BV2 in identity configuration.
Referenced by fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersect(), and fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeIntersect().
FCL_REAL fcl::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.
FCL_REAL fcl::distance | ( | const CollisionGeometry * | o1, |
const Transform3f & | tf1, | ||
const CollisionGeometry * | o2, | ||
const Transform3f & | tf2, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
void fcl::distance | ( | DistanceTraversalNodeBase * | node, |
BVHFrontList * | front_list = NULL , |
||
int | qsize = 2 |
||
) |
distance computation on distance traversal node; can use front list to accelerate
FCL_REAL fcl::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)
FCL_REAL fcl::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.
Referenced by fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::SpatialHashingCollisionManager< HashTable >::distance(), fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), and fcl::DistanceResult::update().
FCL_REAL fcl::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.
void fcl::distanceQueueRecurse | ( | DistanceTraversalNodeBase * | node, |
int | b1, | ||
int | b2, | ||
BVHFrontList * | front_list, | ||
int | qsize | ||
) |
Recurse function for distance, using queue acceleration.
void fcl::distanceRecurse | ( | DistanceTraversalNodeBase * | node, |
int | b1, | ||
int | b2, | ||
BVHFrontList * | front_list | ||
) |
Recurse function for distance.
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
Referenced by fcl::Variance3f::init().
CollisionGeometry* fcl::extract | ( | const CollisionGeometry * | model, |
const Transform3f & | pose, | ||
const AABB & | aabb | ||
) |
void fcl::fit | ( | Vec3f * | ps, |
int | n, | ||
BV & | bv | ||
) |
Compute a bounding volume that fits a set of n points.
Referenced by computeBV().
void fcl::fit< kIOS > | ( | Vec3f * | ps, |
int | n, | ||
kIOS & | bv | ||
) |
void fcl::fit< OBB > | ( | Vec3f * | ps, |
int | n, | ||
OBB & | bv | ||
) |
void fcl::fit< OBBRSS > | ( | Vec3f * | ps, |
int | n, | ||
OBBRSS & | bv | ||
) |
void fcl::fit< RSS > | ( | Vec3f * | ps, |
int | n, | ||
RSS & | bv | ||
) |
void fcl::generateBVHModel | ( | BVHModel< BV > & | model, |
const Box & | shape, | ||
const Transform3f & | pose | ||
) |
Generate BVH model from box.
References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Box::side, and fcl::Transform3f::transform().
Referenced by generateBVHModel().
void fcl::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.
References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Sphere::radius, and fcl::Transform3f::transform().
void fcl::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
References generateBVHModel(), and fcl::Sphere::radius.
void fcl::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.
References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Cylinder::lz, fcl::Cylinder::radius, and fcl::Transform3f::transform().
void fcl::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.
References generateBVHModel(), fcl::Cylinder::lz, and fcl::Cylinder::radius.
void fcl::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.
References fcl::BVHModel< BV >::addSubModel(), fcl::BVHModel< BV >::beginModel(), fcl::BVHModel< BV >::computeLocalAABB(), fcl::BVHModel< BV >::endModel(), fcl::Cone::lz, fcl::Cone::radius, and fcl::Transform3f::transform().
void fcl::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.
References generateBVHModel(), fcl::Cone::lz, and fcl::Cone::radius.
void fcl::generateCoordinateSystem | ( | const Eigen::MatrixBase< Derived1 > & | _w, |
const Eigen::MatrixBase< Derived2 > & | _u, | ||
const Eigen::MatrixBase< Derived3 > & | _v | ||
) |
void fcl::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.
void fcl::getExtentAndCenter | ( | Vec3f * | ps, |
Vec3f * | ps2, | ||
Triangle * | ts, | ||
unsigned int * | indices, | ||
int | n, | ||
Matrix3f & | axes, | ||
Vec3f & | center, | ||
Vec3f & | extent | ||
) |
Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
void fcl::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.
void fcl::hat | ( | const Eigen::MatrixBase< Derived > & | mat, |
const Eigen::MatrixBase< OtherDerived > & | vec | ||
) |
bool fcl::initialize | ( | ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver > & | node, |
const S1 & | shape1, | ||
const Transform3f & | tf1, | ||
const S2 & | shape2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize traversal node for collision between two geometric shapes, given current object transform.
References fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::cost_density, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::TraversalNodeBase::tf1, and fcl::TraversalNodeBase::tf2.
bool fcl::initialize | ( | MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver > & | node, |
BVHModel< BV > & | model1, | ||
Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result, | ||
bool | use_refit = false , |
||
bool | refit_bottomup = false |
||
) |
Initialize traversal node for collision between one mesh and one shape, given current object transform.
References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::CollisionGeometry::cost_density, fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::cost_density, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHShapeCollisionTraversalNode< BV, S >::model1, fcl::BVHShapeCollisionTraversalNode< BV, S >::model2, fcl::BVHShapeCollisionTraversalNode< BV, S >::model2_bv, fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >::vertices.
bool fcl::initialize | ( | ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
BVHModel< BV > & | model2, | ||
Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result, | ||
bool | use_refit = false , |
||
bool | refit_bottomup = false |
||
) |
Initialize traversal node for collision between one mesh and one shape, given current object transform.
References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::CollisionGeometry::cost_density, fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::cost_density, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1, fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1_bv, fcl::ShapeBVHCollisionTraversalNode< S, BV >::model2, fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::vertices.
bool fcl::initialize | ( | MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver > & | node, |
const BVHModel< OBB > & | model1, | ||
const Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type.
bool fcl::initialize | ( | MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver > & | node, |
const BVHModel< RSS > & | model1, | ||
const Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type.
bool fcl::initialize | ( | MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver > & | node, |
const BVHModel< kIOS > & | model1, | ||
const Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type.
bool fcl::initialize | ( | MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > & | node, |
const BVHModel< OBBRSS > & | model1, | ||
const Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type.
bool fcl::initialize | ( | ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< OBB > & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type.
bool fcl::initialize | ( | ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< RSS > & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type.
bool fcl::initialize | ( | ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< kIOS > & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type.
bool fcl::initialize | ( | ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< OBBRSS > & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type.
bool fcl::initialize | ( | MeshCollisionTraversalNode< BV > & | node, |
BVHModel< BV > & | model1, | ||
Transform3f & | tf1, | ||
BVHModel< BV > & | model2, | ||
Transform3f & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result, | ||
bool | use_refit = false , |
||
bool | refit_bottomup = false |
||
) |
Initialize traversal node for collision between two meshes, given the current transforms.
References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, fcl::CollisionGeometry::cost_density, fcl::MeshCollisionTraversalNode< BV >::cost_density, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHCollisionTraversalNode< BV >::model1, fcl::BVHCollisionTraversalNode< BV >::model2, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshCollisionTraversalNode< BV >::tri_indices1, fcl::MeshCollisionTraversalNode< BV >::tri_indices2, fcl::BVHModel< BV >::vertices, fcl::MeshCollisionTraversalNode< BV >::vertices1, and fcl::MeshCollisionTraversalNode< BV >::vertices2.
bool fcl::initialize | ( | MeshCollisionTraversalNodeOBB & | node, |
const BVHModel< OBB > & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< OBB > & | model2, | ||
const Transform3f & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize traversal node for collision between two meshes, specialized for OBB type.
bool fcl::initialize | ( | MeshCollisionTraversalNodeRSS & | node, |
const BVHModel< RSS > & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< RSS > & | model2, | ||
const Transform3f & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize traversal node for collision between two meshes, specialized for RSS type.
bool fcl::initialize | ( | MeshCollisionTraversalNodeOBBRSS & | node, |
const BVHModel< OBBRSS > & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< OBBRSS > & | model2, | ||
const Transform3f & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize traversal node for collision between two meshes, specialized for OBBRSS type.
bool fcl::initialize | ( | MeshCollisionTraversalNodekIOS & | node, |
const BVHModel< kIOS > & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< kIOS > & | model2, | ||
const Transform3f & | tf2, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
Initialize traversal node for collision between two meshes, specialized for kIOS type.
bool fcl::initialize | ( | ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver > & | node, |
const S1 & | shape1, | ||
const Transform3f & | tf1, | ||
const S2 & | shape2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance between two geometric shapes.
References fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::TraversalNodeBase::tf1, and fcl::TraversalNodeBase::tf2.
bool fcl::initialize | ( | MeshDistanceTraversalNode< BV > & | node, |
BVHModel< BV > & | model1, | ||
Transform3f & | tf1, | ||
BVHModel< BV > & | model2, | ||
Transform3f & | tf2, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result, | ||
bool | use_refit = false , |
||
bool | refit_bottomup = false |
||
) |
Initialize traversal node for distance computation between two meshes, given the current transforms.
References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHDistanceTraversalNode< BV >::model1, fcl::BVHDistanceTraversalNode< BV >::model2, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshDistanceTraversalNode< BV >::tri_indices1, fcl::MeshDistanceTraversalNode< BV >::tri_indices2, fcl::BVHModel< BV >::vertices, fcl::MeshDistanceTraversalNode< BV >::vertices1, and fcl::MeshDistanceTraversalNode< BV >::vertices2.
bool fcl::initialize | ( | MeshDistanceTraversalNodeRSS & | node, |
const BVHModel< RSS > & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< RSS > & | model2, | ||
const Transform3f & | tf2, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between two meshes, specialized for RSS type.
bool fcl::initialize | ( | MeshDistanceTraversalNodekIOS & | node, |
const BVHModel< kIOS > & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< kIOS > & | model2, | ||
const Transform3f & | tf2, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between two meshes, specialized for kIOS type.
bool fcl::initialize | ( | MeshDistanceTraversalNodeOBBRSS & | node, |
const BVHModel< OBBRSS > & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< OBBRSS > & | model2, | ||
const Transform3f & | tf2, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between two meshes, specialized for OBBRSS type.
bool fcl::initialize | ( | MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver > & | node, |
BVHModel< BV > & | model1, | ||
Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result, | ||
bool | use_refit = false , |
||
bool | refit_bottomup = false |
||
) |
Initialize traversal node for distance computation between one mesh and one shape, given the current transforms.
References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::BVHShapeDistanceTraversalNode< BV, S >::model1, fcl::BVHShapeDistanceTraversalNode< BV, S >::model2, fcl::BVHShapeDistanceTraversalNode< BV, S >::model2_bv, fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::vertices.
bool fcl::initialize | ( | ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
BVHModel< BV > & | model2, | ||
Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result, | ||
bool | use_refit = false , |
||
bool | refit_bottomup = false |
||
) |
Initialize traversal node for distance computation between one shape and one mesh, given the current transforms.
References fcl::BVHModel< BV >::beginReplaceModel(), BVH_MODEL_TRIANGLES, computeBV(), fcl::BVHModel< BV >::endReplaceModel(), fcl::BVHModel< BV >::getModelType(), fcl::Transform3f::isIdentity(), fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1, fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1_bv, fcl::ShapeBVHDistanceTraversalNode< S, BV >::model2, fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::nsolver, fcl::BVHModel< BV >::num_vertices, fcl::BVHModel< BV >::replaceSubModel(), fcl::DistanceTraversalNodeBase::request, fcl::DistanceTraversalNodeBase::result, fcl::Transform3f::setIdentity(), fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::Transform3f::transform(), fcl::BVHModel< BV >::tri_indices, fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices, fcl::BVHModel< BV >::vertices, and fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::vertices.
bool fcl::initialize | ( | MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver > & | node, |
const BVHModel< RSS > & | model1, | ||
const Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type.
bool fcl::initialize | ( | MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver > & | node, |
const BVHModel< kIOS > & | model1, | ||
const Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type.
bool fcl::initialize | ( | MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > & | node, |
const BVHModel< OBBRSS > & | model1, | ||
const Transform3f & | tf1, | ||
const S & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type.
bool fcl::initialize | ( | ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< RSS > & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type.
References fcl::details::setupShapeMeshDistanceOrientedNode().
bool fcl::initialize | ( | ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< kIOS > & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type.
References fcl::details::setupShapeMeshDistanceOrientedNode().
bool fcl::initialize | ( | ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver > & | node, |
const S & | model1, | ||
const Transform3f & | tf1, | ||
const BVHModel< OBBRSS > & | model2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type.
References fcl::details::setupShapeMeshDistanceOrientedNode().
Transform3f fcl::inverse | ( | const Transform3f & | tf | ) |
inverse the transform
Referenced by fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().
bool fcl::isEqual | ( | const Eigen::MatrixBase< Derived > & | lhs, |
const Eigen::MatrixBase< OtherDerived > & | rhs, | ||
const FCL_REAL | tol = std::numeric_limits<FCL_REAL>::epsilon()*100 |
||
) |
Referenced by fcl::AABB::equal().
bool fcl::isQuatIdentity | ( | const Quaternion3f & | q | ) | [inline] |
Referenced by fcl::CollisionObject::computeAABB(), and fcl::Transform3f::isIdentity().
void fcl::loadPolyhedronFromResource | ( | const std::string & | resource_path, |
const fcl::Vec3f & | scale, | ||
const boost::shared_ptr< BVHModel< BoundingVolume > > & | polyhedron | ||
) | throw (std::invalid_argument) [inline] |
Read a mesh file and convert it to a polyhedral mesh.
[in] | resource_path | Path to the ressource mesh file to be read |
[in] | scale | Scale to apply when reading the ressource |
[out] | polyhedron | The resulted polyhedron |
References meshFromAssimpScene().
FCL_REAL fcl::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.
void fcl::meshFromAssimpScene | ( | const std::string & | name, |
const fcl::Vec3f & | scale, | ||
const aiScene * | scene, | ||
const boost::shared_ptr< BVHModel< BoundingVolume > > & | mesh | ||
) | throw (std::invalid_argument) [inline] |
Convert an assimp scene to a mesh.
[in] | name | File (ressource) transformed into an assimp scene in loa |
[in] | scale | Scale to apply when reading the ressource |
[in] | scene | Pointer to the assimp scene |
[out] | mesh | The mesh that must be built |
References buildMesh(), BVH_OK, fcl::TriangleAndVertices::clear(), fcl::TriangleAndVertices::triangles_, and fcl::TriangleAndVertices::vertices_.
Referenced by loadPolyhedronFromResource().
bool fcl::nodeBaseLess | ( | NodeBase< BV > * | a, |
NodeBase< BV > * | b, | ||
int | d | ||
) |
Compare two nodes accoording to the d-th dimension of node center.
References fcl::NodeBase< BV >::bv.
bool fcl::obbDisjoint | ( | const Matrix3f & | B, |
const Vec3f & | T, | ||
const Vec3f & | a, | ||
const Vec3f & | b | ||
) |
Check collision between two boxes.
B,T | orientation and position of first box, |
a | half dimensions of first box, |
b | half dimensions of second box. The second box is in identity configuration. |
bool fcl::obbDisjointAndLowerBoundDistance | ( | const Matrix3f & | B, |
const Vec3f & | T, | ||
const Vec3f & | a, | ||
const Vec3f & | b, | ||
FCL_REAL & | squaredLowerBoundDistance | ||
) |
static std::ostream& fcl::operator<< | ( | std::ostream & | o, |
const Quaternion3f & | q | ||
) | [inline, static] |
bool fcl::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.
bool fcl::overlap | ( | const Matrix3f & | R0, |
const Vec3f & | T0, | ||
const OBB & | b1, | ||
const OBB & | b2, | ||
FCL_REAL & | sqrDistLowerBound | ||
) |
Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.
bool fcl::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.
bool fcl::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.
Referenced by fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), and fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting().
bool fcl::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.
bool fcl::overlap | ( | const Matrix3f & | R0, |
const Vec3f & | T0, | ||
const OBBRSS & | b1, | ||
const OBBRSS & | b2, | ||
FCL_REAL & | sqrDistLowerBound | ||
) |
void fcl::propagateBVHFrontListCollisionRecurse | ( | CollisionTraversalNodeBase * | node, |
BVHFrontList * | front_list, | ||
FCL_REAL & | sqrDistLowerBound | ||
) |
Recurse function for front list propagation.
Derived::Scalar fcl::quadraticForm | ( | const Eigen::MatrixBase< Derived > & | R, |
const Eigen::MatrixBase< OtherDerived > & | v | ||
) |
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 | ||
) |
void fcl::relativeTransform | ( | const Transform3f & | tf1, |
const Transform3f & | tf2, | ||
Transform3f & | tf | ||
) |
compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1)
void fcl::relativeTransform2 | ( | const Transform3f & | tf1, |
const Transform3f & | tf2, | ||
Transform3f & | tf | ||
) |
compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system)
static AABB fcl::rotate | ( | const AABB & | aabb, |
const Matrix3f & | t | ||
) | [inline, static] |
References fcl::AABB::max_, and fcl::AABB::min_.
size_t fcl::select | ( | const NodeBase< BV > & | query, |
const NodeBase< BV > & | node1, | ||
const NodeBase< BV > & | node2 | ||
) |
select from node1 and node2 which is close to a given query. 0 for node1 and 1 for node2
size_t fcl::select | ( | const NodeBase< AABB > & | node, |
const NodeBase< AABB > & | node1, | ||
const NodeBase< AABB > & | node2 | ||
) |
size_t fcl::select | ( | const BV & | query, |
const NodeBase< BV > & | node1, | ||
const NodeBase< BV > & | node2 | ||
) |
select from node1 and node2 which is close to a given query bounding volume. 0 for node1 and 1 for node2
size_t fcl::select | ( | const AABB & | query, |
const NodeBase< AABB > & | node1, | ||
const NodeBase< AABB > & | node2 | ||
) |
void fcl::selfCollide | ( | CollisionTraversalNodeBase * | node, |
BVHFrontList * | front_list = NULL |
||
) |
self collision on collision traversal node; can use front list to accelerate
void fcl::selfCollisionRecurse | ( | CollisionTraversalNodeBase * | node, |
int | b, | ||
BVHFrontList * | front_list | ||
) |
Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same.
Derived& fcl::setEulerYPR | ( | const Eigen::MatrixBase< Derived > & | R, |
FCL_REAL | yaw, | ||
FCL_REAL | pitch, | ||
FCL_REAL | roll | ||
) | [inline] |
References setEulerZYX().
Derived& fcl::setEulerZYX | ( | const Eigen::MatrixBase< Derived > & | R, |
FCL_REAL | eulerX, | ||
FCL_REAL | eulerY, | ||
FCL_REAL | eulerZ | ||
) | [inline] |
Referenced by setEulerYPR().
std::size_t fcl::ShapeShapeCollide | ( | const CollisionGeometry * | o1, |
const Transform3f & | tf1, | ||
const CollisionGeometry * | o2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const CollisionRequest & | request, | ||
CollisionResult & | result | ||
) |
FCL_REAL fcl::ShapeShapeDistance | ( | const CollisionGeometry * | o1, |
const Transform3f & | tf1, | ||
const CollisionGeometry * | o2, | ||
const Transform3f & | tf2, | ||
const NarrowPhaseSolver * | nsolver, | ||
const DistanceRequest & | request, | ||
DistanceResult & | result | ||
) |
Halfspace fcl::transform | ( | const Halfspace & | a, |
const Transform3f & | tf | ||
) |
Plane fcl::transform | ( | const Plane & | a, |
const Transform3f & | tf | ||
) |
KDOP<N> fcl::translate | ( | const KDOP< N > & | bv, |
const Vec3f & | t | ||
) |
translate the KDOP BV
static AABB fcl::translate | ( | const AABB & | aabb, |
const Vec3f & | t | ||
) | [inline, static] |
translate the center of AABB by t
References fcl::AABB::max_, and fcl::AABB::min_.
Referenced by fcl::CollisionObject::computeAABB().
static Derived::Scalar fcl::triple | ( | const Eigen::MatrixBase< Derived > & | x, |
const Eigen::MatrixBase< Derived > & | y, | ||
const Eigen::MatrixBase< Derived > & | z | ||
) | [inline, static] |
void fcl::updateFrontList | ( | BVHFrontList * | front_list, |
int | b1, | ||
int | b2 | ||
) | [inline] |
Add new front node into the front list.