38 #ifndef HPP_FCL_DATA_TYPES_H 39 #define HPP_FCL_DATA_TYPES_H 42 #include <Eigen/Geometry> 48 #ifdef HPP_FCL_HAS_OCTOMAP 49 #define OCTOMAP_VERSION_AT_LEAST(x, y, z) \ 50 (OCTOMAP_MAJOR_VERSION > x || \ 51 (OCTOMAP_MAJOR_VERSION >= x && \ 52 (OCTOMAP_MINOR_VERSION > y || \ 53 (OCTOMAP_MINOR_VERSION >= y && OCTOMAP_PATCH_VERSION >= z)))) 55 #define OCTOMAP_VERSION_AT_MOST(x, y, z) \ 56 (OCTOMAP_MAJOR_VERSION < x || \ 57 (OCTOMAP_MAJOR_VERSION <= x && \ 58 (OCTOMAP_MINOR_VERSION < y || \ 59 (OCTOMAP_MINOR_VERSION <= y && OCTOMAP_PATCH_VERSION <= z)))) 60 #endif // HPP_FCL_HAS_OCTOMAP 66 typedef Eigen::Matrix<FCL_REAL, 3, 1>
Vec3f;
67 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1>
VecXf;
68 typedef Eigen::Matrix<FCL_REAL, 3, 3>
Matrix3f;
69 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3>
Matrixx3f;
70 typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3>
Matrixx3i;
71 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic>
MatrixXf;
122 return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
123 vids[2] == other.vids[2];
160 return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
161 vids[2] == other.vids[2] && vids[3] == other.vids[3];
165 return !(*
this == other);
GJKConvergenceCriterionType
Wether the convergence criterion is scaled on the norm of the solution or not.
Definition: data_types.h:93
Definition: data_types.h:93
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic > MatrixXf
Definition: data_types.h:71
Definition: data_types.h:83
Definition: data_types.h:89
Definition: data_types.h:80
GJKVariant
Variant to use for the GJK algorithm.
Definition: data_types.h:83
int size_type
Definition: data_types.h:136
Main namespace.
Definition: broadphase_bruteforce.h:44
bool operator!=(const Quadrilateral &other) const
Definition: data_types.h:164
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 > VecXf
Definition: data_types.h:67
Quadrilateral with 4 indices for points.
Definition: data_types.h:134
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
bool operator==(const Quadrilateral &other) const
Definition: data_types.h:159
std::size_t index_type
Definition: data_types.h:135
bool operator!=(const Triangle &other) const
Definition: data_types.h:126
Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3)
Definition: data_types.h:140
std::size_t index_type
Definition: data_types.h:98
Definition: data_types.h:89
Triangle()
Default constructor.
Definition: data_types.h:102
double FCL_REAL
Definition: data_types.h:65
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
Definition: data_types.h:70
GJKInitialGuess
Initial guess to use for the GJK algorithm DefaultGuess: Vec3f(1, 0, 0) CachedGuess: previous vector ...
Definition: data_types.h:80
index_type operator[](index_type i) const
the quadrilateral index
Definition: data_types.h:153
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > Matrixx3f
Definition: data_types.h:69
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:72
Triangle with 3 indices for points.
Definition: data_types.h:96
Definition: data_types.h:93
index_type & operator[](index_type i)
Definition: data_types.h:117
static size_type size()
Definition: data_types.h:119
index_type operator[](index_type i) const
Access the triangle index.
Definition: data_types.h:115
Quadrilateral()
Definition: data_types.h:138
static size_type size()
Definition: data_types.h:157
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
GJKConvergenceCriterion
Which convergence criterion is used to stop the algorithm (when the shapes are not in collision)...
Definition: data_types.h:89
Triangle(index_type p1, index_type p2, index_type p3)
Create a triangle with given vertex indices.
Definition: data_types.h:105
index_type & operator[](index_type i)
Definition: data_types.h:155
Definition: data_types.h:80
int size_type
Definition: data_types.h:99
Definition: data_types.h:83
Definition: data_types.h:89
#define HPP_FCL_DLLAPI
Definition: config.hh:88
Definition: data_types.h:80
bool operator==(const Triangle &other) const
Definition: data_types.h:121