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))))
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);
Triangle with 3 indices for points.
Definition: data_types.h:96
void set(index_type p1, index_type p2, index_type p3)
Set the vertex indices of the triangle.
Definition: data_types.h:108
index_type operator[](index_type i) const
Access the triangle index.
Definition: data_types.h:115
int size_type
Definition: data_types.h:99
Triangle(index_type p1, index_type p2, index_type p3)
Create a triangle with given vertex indices.
Definition: data_types.h:105
static size_type size()
Definition: data_types.h:119
index_type & operator[](index_type i)
Definition: data_types.h:117
bool operator==(const Triangle &other) const
Definition: data_types.h:121
std::size_t index_type
Definition: data_types.h:98
Triangle()
Default constructor.
Definition: data_types.h:102
bool operator!=(const Triangle &other) const
Definition: data_types.h:126
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Eigen::Matrix< Eigen::DenseIndex, Eigen::Dynamic, 3 > Matrixx3i
Definition: data_types.h:70
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
GJKVariant
Variant to use for the GJK algorithm.
Definition: data_types.h:83
@ DefaultGJK
Definition: data_types.h:83
@ NesterovAcceleration
Definition: data_types.h:83
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 3 > Matrixx3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, Eigen::Dynamic > MatrixXf
Definition: data_types.h:71
GJKConvergenceCriterionType
Wether the convergence criterion is scaled on the norm of the solution or not.
Definition: data_types.h:93
@ Relative
Definition: data_types.h:93
@ Absolute
Definition: data_types.h:93
Eigen::Matrix< FCL_REAL, Eigen::Dynamic, 1 > VecXf
Definition: data_types.h:67
GJKConvergenceCriterion
Which convergence criterion is used to stop the algorithm (when the shapes are not in collision)....
Definition: data_types.h:89
@ DualityGap
Definition: data_types.h:89
@ VDB
Definition: data_types.h:89
@ Hybrid
Definition: data_types.h:89
GJKInitialGuess
Initial guess to use for the GJK algorithm DefaultGuess: Vec3f(1, 0, 0) CachedGuess: previous vector ...
Definition: data_types.h:80
@ BoundingVolumeGuess
Definition: data_types.h:80
@ CachedGuess
Definition: data_types.h:80
@ DefaultGuess
Definition: data_types.h:80
double FCL_REAL
Definition: data_types.h:65
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:72
Main namespace.
Definition: broadphase_bruteforce.h:44
Quadrilateral with 4 indices for points.
Definition: data_types.h:134
bool operator!=(const Quadrilateral &other) const
Definition: data_types.h:164
Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3)
Definition: data_types.h:140
index_type operator[](index_type i) const
@access the quadrilateral index
Definition: data_types.h:153
Quadrilateral()
Definition: data_types.h:138
void set(index_type p0, index_type p1, index_type p2, index_type p3)
Set the vertex indices of the quadrilateral.
Definition: data_types.h:145
int size_type
Definition: data_types.h:136
bool operator==(const Quadrilateral &other) const
Definition: data_types.h:159
index_type & operator[](index_type i)
Definition: data_types.h:155
std::size_t index_type
Definition: data_types.h:135
static size_type size()
Definition: data_types.h:157