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static std::ostream & | fcl::operator<< (std::ostream &o, const Quaternion3f &q) |
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bool | fcl::isQuatIdentity (const Quaternion3f &q) |
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bool | fcl::areQuatEquals (const Quaternion3f &q1, const Quaternion3f &q2) |
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Transform3f | fcl::inverse (const Transform3f &tf) |
| inverse the transform More...
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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) More...
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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) More...
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