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FCL Class List

Here are the classes, structs, unions and interfaces with brief descriptions:
fcl::AABBA class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points
fcl::BoxCenter at zero point, axis aligned box
fcl::BroadPhaseCollisionManagerBase 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
fcl::BVFitter< BV >The class for the default algorithm fitting a bounding volume to a set of points
fcl::BVFitter< kIOS >Specification of BVFitter for kIOS bounding volume
fcl::BVFitter< OBB >Specification of BVFitter for OBB bounding volume
fcl::BVFitter< OBBRSS >Specification of BVFitter for OBBRSS bounding volume
fcl::BVFitter< RSS >Specification of BVFitter for RSS bounding volume
fcl::BVFitterBase< BV >Interface for fitting a bv given the triangles or points inside it
fcl::BVHCollisionTraversalNode< BV >Traversal node for collision between BVH models
fcl::BVHContinuousCollisionPairTraversal node for continuous collision between BVH models
fcl::BVHDistanceTraversalNode< BV >Traversal node for distance computation between BVH models
fcl::BVHFrontNodeFront 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. The front list reflects the subset of a BVTT that is traversed for that particular proximity query
fcl::BVHModel< BV >A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
fcl::BVHShapeCollisionTraversalNode< BV, S >Traversal node for collision between BVH and shape
fcl::BVHShapeDistanceTraversalNode< BV, S >Traversal node for distance computation between BVH and shape
fcl::BVNode< BV >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
fcl::BVNodeBaseBVNodeBase encodes the tree structure for BVH
fcl::BVSplitter< BV >A class describing the split rule that splits each BV node
fcl::BVSplitterBase< BV >Base interface for BV splitting algorithm
fcl::CapsuleCenter at zero point capsule
fcl::CollisionFunctionMatrix< NarrowPhaseSolver >Collision matrix stores the functions for collision between different types of objects and provides a uniform call interface
fcl::CollisionGeometryThe geometry for the object for collision or distance computation
fcl::CollisionObjectObject for collision or distance computation, contains the geometry and the transform information
fcl::CollisionRequestRequest to the collision algorithm
fcl::CollisionResultCollision result
fcl::CollisionTraversalNodeBaseNode structure encoding the information required for collision traversal
fcl::ConeCenter at zero cone
fcl::ConservativeAdvancementStackData
fcl::ContactContact information returned by collision
fcl::ConvexConvex polytope
fcl::Convex::Edge
fcl::CostSourceCost source describes an area with a cost. The area is described by an AABB region
fcl::CylinderCenter at zero cylinder
fcl::details::EPAClass for EPA algorithm
fcl::details::GJKClass for GJK algorithm
fcl::details::GJK::Simplex
fcl::details::GJK::SimplexV
fcl::details::GJKInitializer< T >Initialize GJK stuffs
fcl::details::GJKInitializer< Box >Initialize GJK Box
fcl::details::GJKInitializer< Capsule >Initialize GJK Capsule
fcl::details::GJKInitializer< Cone >Initialize GJK Cone
fcl::details::GJKInitializer< Convex >Initialize GJK Convex
fcl::details::GJKInitializer< Cylinder >Initialize GJK Cylinder
fcl::details::GJKInitializer< Sphere >Initialize GJK Sphere
fcl::details::Matrix3Data< T >
fcl::details::MinkowskiDiffMinkowski difference class of two shapes
fcl::details::sse_meta_d4
fcl::details::sse_meta_f12
fcl::details::sse_meta_f16
fcl::details::sse_meta_f4
fcl::details::Vec3Data< T >
fcl::DistanceFunctionMatrix< NarrowPhaseSolver >Distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
fcl::DistanceRequestRequest to the distance computation
fcl::DistanceResultDistance result
fcl::DistanceTraversalNodeBaseNode structure encoding the information required for distance traversal
fcl::DynamicAABBTreeCollisionManager
fcl::DynamicAABBTreeCollisionManager_Array
fcl::GJKSolver_indepCollision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)
fcl::GJKSolver_libccdCollision and distance solver based on libccd library
fcl::HierarchyTree< BV >Class for hierarchy tree structure
fcl::IMatrix3
fcl::implementation_array::HierarchyTree< BV >Class for hierarchy tree structure
fcl::implementation_array::NodeBase< BV >
fcl::implementation_array::nodeBaseLess< BV >Functor comparing two nodes
fcl::InterpMotion< BV >Linear interpolation motion Each Motion is assumed to have constant linear velocity and angular velocity The motion is R(t)(p - p_ref) + p_ref + T(t) Therefore, R(0) = R0, R(1) = R1 T(0) = T0 + R0 p_ref - p_ref T(1) = T1 + R1 p_ref - p_ref
fcl::IntersectCCD intersect kernel among primitives
fcl::IntervalInterval class for [a, b]
fcl::IntervalTreeInterval tree
fcl::IntervalTreeCollisionManagerCollision manager based on interval tree
fcl::IntervalTreeCollisionManager::EndPointSAP end point
fcl::IntervalTreeCollisionManager::SAPIntervalExtention interval tree's interval to SAP interval, adding more information
fcl::IntervalTreeNodeThe node for interval tree
fcl::IVector3
fcl::KDOP< N >KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17
fcl::kIOSA class describing the kIOS collision structure, which is a set of spheres
fcl::Matrix3fX< T >Matrix2 class wrapper. the core data is in the template parameter class
fcl::MeshCollisionTraversalNode< BV >Traversal node for collision between two meshes
fcl::MeshCollisionTraversalNodekIOS
fcl::MeshCollisionTraversalNodeOBBTraversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS)
fcl::MeshCollisionTraversalNodeOBBRSS
fcl::MeshCollisionTraversalNodeRSS
fcl::MeshConservativeAdvancementTraversalNode< BV >Continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
fcl::MeshConservativeAdvancementTraversalNodeRSS
fcl::MeshContinuousCollisionTraversalNode< BV >Traversal node for continuous collision between meshes
fcl::MeshDistanceTraversalNode< BV >Traversal node for distance computation between two meshes
fcl::MeshDistanceTraversalNodekIOS
fcl::MeshDistanceTraversalNodeOBBRSS
fcl::MeshDistanceTraversalNodeRSSTraversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS)
fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >Traversal node for mesh-octree collision
fcl::MeshOcTreeDistanceTraversalNode< BV, NarrowPhaseSolver >Traversal node for mesh-octree distance
fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver >Traversal node for collision between mesh and shape
fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >
fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >
fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >
fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >Traversal node for distance between mesh and shape
fcl::MeshShapeDistanceTraversalNodekIOS< S, NarrowPhaseSolver >
fcl::MeshShapeDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >
fcl::MeshShapeDistanceTraversalNodeRSS< S, NarrowPhaseSolver >Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS)
fcl::morton_functor< T >Functor to compute the morton code for a given AABB
fcl::morton_functor< boost::dynamic_bitset<> >Functor to compute n bit morton code for a given AABB
fcl::morton_functor< FCL_UINT32 >Functor to compute 30 bit morton code for a given AABB
fcl::morton_functor< FCL_UINT64 >Functor to compute 60 bit morton code for a given AABB
fcl::MotionBase< BV >
fcl::NaiveCollisionManagerBrute force N-body collision manager
fcl::NodeBase< BV >Dynamic AABB tree node
fcl::OBBOriented bounding box class
fcl::OBBRSSClass merging the OBB and RSS, can handle collision and distance simultaneously
fcl::OcTreeOctree is one type of collision geometry which can encode uncertainty information in the sensor data
fcl::OcTreeCollisionTraversalNode< NarrowPhaseSolver >Traversal node for octree collision
fcl::OcTreeDistanceTraversalNode< NarrowPhaseSolver >Traversal node for octree distance
fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >Traversal node for octree-mesh collision
fcl::OcTreeMeshDistanceTraversalNode< BV, NarrowPhaseSolver >Traversal node for octree-mesh distance
fcl::OcTreeShapeCollisionTraversalNode< S, NarrowPhaseSolver >Traversal node for octree-shape collision
fcl::OcTreeShapeDistanceTraversalNode< S, NarrowPhaseSolver >Traversal node for octree-shape distance
fcl::OcTreeSolver< NarrowPhaseSolver >Algorithms for collision related with octree
fcl::PlaneInfinite plane
fcl::PolySolverA class solves polynomial degree (1,2,3) equations
fcl::Quaternion3fQuaternion used locally by InterpMotion
fcl::RSSA class for rectangle sphere-swept bounding volume
fcl::SaPCollisionManagerRigorous SAP collision manager
fcl::SaPCollisionManager::EndPointEnd point for an interval
fcl::SaPCollisionManager::isNotValidPairFunctor to help remove collision pairs no longer valid (i.e., should be culled away)
fcl::SaPCollisionManager::isUnregisteredFunctor to help unregister one object
fcl::SaPCollisionManager::SaPAABBSAP interval for one object
fcl::SaPCollisionManager::SaPPairA pair of objects that are not culling away and should further check collision
fcl::ScrewMotion< BV >
fcl::ShapeBaseBase class for all basic geometric shapes
fcl::ShapeBVHCollisionTraversalNode< S, BV >Traversal node for collision between shape and BVH
fcl::ShapeBVHDistanceTraversalNode< S, BV >Traversal node for distance computation between shape and BVH
fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >Traversal node for collision between two shapes
fcl::ShapeDistanceTraversalNode< S1, S2, NarrowPhaseSolver >Traversal node for distance between two shapes
fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >Traversal node for collision between shape and mesh
fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >
fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >
fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >
fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >Traversal node for distance between shape and mesh
fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >
fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >
fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >
fcl::ShapeOcTreeCollisionTraversalNode< S, NarrowPhaseSolver >Traversal node for shape-octree collision
fcl::ShapeOcTreeDistanceTraversalNode< S, NarrowPhaseSolver >Traversal node for shape-octree distance
fcl::SimpleHashTable< Key, Data, HashFnc >A simple hash table implemented as multiple buckets. HashFnc is any extended hash function: HashFnc(key) = {index1, index2, ..., }
fcl::SimpleIntervalInterval trees implemented using red-black-trees as described in the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest. Can be replaced in part by boost::icl::interval_set, which is only supported after boost 1.46 and does not support delete node routine
fcl::SparseHashTable< Key, Data, HashFnc, TableT >A hash table implemented using unordered_map
fcl::SpatialHashSpatial hash function: hash an AABB to a set of integer values
fcl::SpatialHashingCollisionManager< HashTable >Spatial hashing collision mananger
fcl::SphereCenter at zero point sphere
fcl::SplineMotion< BV >
fcl::SSaPCollisionManagerSimple SAP collision manager
fcl::TaylorModelTaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder. All the operations on two Taylor models assume their time intervals are the same
fcl::TimeInterval
fcl::TMatrix3
fcl::tools::ProfilerThis is a simple thread-safe tool for counting time spent in various chunks of code. This is different from external profiling tools in that it allows the user to count time spent in various bits of code (sub-function granularity) or count how many times certain pieces of code are executed
fcl::tools::Profiler::ScopedBlockThis instance will call Profiler::begin() when constructed and Profiler::end() when it goes out of scope
fcl::tools::Profiler::ScopedStartThis instance will call Profiler::start() when constructed and Profiler::stop() when it goes out of scope. If the profiler was already started, this block's constructor and destructor take no action
fcl::Transform3fSimple transform class used locally by InterpMotion
fcl::TraversalNodeBaseNode structure encoding the information required for traversal
fcl::TriangleTriangle with 3 indices for points
fcl::Triangle2Triangle stores the points instead of only indices of points
fcl::TriangleDistance
fcl::TVector3
fcl::unordered_map_hash_table< U, V >
fcl::Variance3fClass for variance matrix in 3d
fcl::Vec3fX< T >Vector3 class wrapper. The core data is in the template parameter class