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BVHModelOBConst_Ptr_t | geom::GetModel (const hpp::pinocchio::CollisionObjectConstPtr_t object, hpp::pinocchio::DeviceData &deviceData) |
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void | geom::projectZ (IT_Point pointsBegin, IT_Point pointsEnd) |
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T_Point | geom::convexHull (CIT_Point pointsBegin, CIT_Point pointsEnd) |
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bool | geom::containsHull (T_Point hull, CPointRef aPoint, const double epsilon=10e-6) |
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bool | geom::contains (T_Point points, CPointRef aPoint, const double epsilon=10e-6) |
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T_Point | geom::compute2DIntersection (CIT_Point aPointsBegin, CIT_Point aPointsEnd, CIT_Point bPointsBegin, CIT_Point bPointsEnd) |
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T_Point | geom::compute2DIntersection (T_Point subPolygon, T_Point clipPolygon) |
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T_Point | geom::compute3DIntersection (T_Point subPolygon, T_Point clipPolygon) |
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double | geom::isLeft (CPointRef lA, CPointRef lB, CPointRef p2) |
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CIT_Point | geom::leftMost (CIT_Point pointsBegin, CIT_Point pointsEnd) |
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double | geom::area (CIT_Point pointsBegin, CIT_Point pointsEnd) |
| area compute the area of a 2D polygon More...
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Point | geom::centerPlanar (T_Point points, const hpp::fcl::Vec3f &n, double t) |
| center compute the center of the polygon (planar) More...
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Point | geom::center (CIT_Point pointsBegin, CIT_Point pointsEnd) |
| center compute the center using average method More...
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Point | geom::centroid (CIT_Point pointsBegin, CIT_Point pointsEnd, double &area) |
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double | geom::distanceToPlane (const hpp::fcl::Vec3f &n, double t, const hpp::fcl::Vec3f &v) |
| distanceToPlane Distance point plan More...
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double | geom::distanceToPlane (CPointRef point, CPointRef Pn, CPointRef P0) |
| distanceToPlane compute the min distance from a point to an (infinite) plan More...
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Point | geom::projectPointOnPlane (CPointRef point, CPointRef Pn, CPointRef P0) |
| projectPointOnPlane othrogonal projection of a given point on the plan More...
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double | geom::projectPointInsidePlan (T_Point plan, CPointRef point, CPointRef Pn, CPointRef P0, Eigen::Ref< Point > res) |
| projectPointInsidePlan project a point inside on the given plan, inside the given convex hull More...
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void | geom::computeTrianglePlaneDistance (hpp::fcl::Vec3f *tri_point, const hpp::fcl::Vec3f &n, double t, hpp::fcl::Vec3f *distance, unsigned int *num_penetrating_points) |
| computeTrianglePlaneDistance compute distance between each vertice of the triangle and a plane More...
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bool | geom::insideTriangle (const hpp::fcl::Vec3f &a, const hpp::fcl::Vec3f &b, const hpp::fcl::Vec3f &c, const hpp::fcl::Vec3f &p) |
| insideTriangle check if a point is inside a triangle More...
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void | geom::intersect3DGeoms (BVHModelOBConst_Ptr_t model1, BVHModelOBConst_Ptr_t model2, hpp::fcl::CollisionResult result) |
| intersectGeoms compute intersection between 2 OBBRSS geometries More...
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T_Point | geom::intersectTriangles (hpp::fcl::Vec3f *tri, hpp::fcl::Vec3f *tri2, std::ostringstream *ss=0) |
| intersectPolygonePlane Compute the intersection of a polygon and a plane The returned point belongs to the surfaces of More...
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T_Point | geom::intersectSegmentPlane (Point s0, Point s1, Eigen::Vector3d pn, Point p0) |
| intersectSegmentPlane compute the intersection between a segment and a plane (infinite) More...
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T_Point | geom::intersectPolygonePlane (BVHModelOBConst_Ptr_t polygone, BVHModelOBConst_Ptr_t plane, Eigen::Ref< Point > Pn) |
| intersectPolygonePlane compute the intersection between a polygone and an (infinite) plane More...
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T_Point | geom::convertBVH (BVHModelOBConst_Ptr_t obj) |
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void | geom::computePlanEquation (BVHModelOBConst_Ptr_t plane, Eigen::Ref< Point > Pn, Eigen::Ref< Point > P0) |
| computePlanEquation compute a plan normal and a point in the plan from the first triangle of a BVHModel More...
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