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Guilhem Saurel
hpp-fcl
Commits
a387f349
Commit
a387f349
authored
Aug 29, 2019
by
Lucile Remigy
Browse files
merge of matrix_3f.h and vec_3h.h in types.h
parent
887fd0cd
Changes
16
Show whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
a387f349
...
...
@@ -128,6 +128,7 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/distance.h
include/hpp/fcl/math/matrix_3f.h
include/hpp/fcl/math/vec_3f.h
include/hpp/fcl/math/types.h
include/hpp/fcl/math/tools.h
include/hpp/fcl/math/transform.h
include/hpp/fcl/traversal/details/traversal.h
...
...
include/hpp/fcl/BV/AABB.h
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a387f349
...
...
@@ -39,8 +39,7 @@
#define HPP_FCL_AABB_H
#include <stdexcept>
#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/math/matrix_3f.h>
#include <hpp/fcl/math/types.h>
namespace
hpp
{
...
...
include/hpp/fcl/BV/BV_node.h
View file @
a387f349
...
...
@@ -39,8 +39,7 @@
#ifndef HPP_FCL_BV_NODE_H
#define HPP_FCL_BV_NODE_H
#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/math/matrix_3f.h>
#include <hpp/fcl/math/types.h>
#include <hpp/fcl/BV/BV.h>
#include <iostream>
...
...
include/hpp/fcl/BV/OBB.h
View file @
a387f349
...
...
@@ -38,9 +38,7 @@
#ifndef HPP_FCL_OBB_H
#define HPP_FCL_OBB_H
#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/math/matrix_3f.h>
#include <hpp/fcl/math/types.h>
namespace
hpp
{
...
...
include/hpp/fcl/BV/RSS.h
View file @
a387f349
...
...
@@ -39,8 +39,7 @@
#define HPP_FCL_RSS_H
#include <stdexcept>
#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/math/matrix_3f.h>
#include <hpp/fcl/math/types.h>
#include <boost/math/constants/constants.hpp>
namespace
hpp
...
...
include/hpp/fcl/BV/kDOP.h
View file @
a387f349
...
...
@@ -39,7 +39,7 @@
#define HPP_FCL_KDOP_H
#include <stdexcept>
#include <hpp/fcl/math/
matrix_3f
.h>
#include <hpp/fcl/math/
types
.h>
namespace
hpp
{
...
...
include/hpp/fcl/collision.h
View file @
a387f349
...
...
@@ -39,7 +39,7 @@
#ifndef HPP_FCL_COLLISION_H
#define HPP_FCL_COLLISION_H
#include <hpp/fcl/math/
vec_3f
.h>
#include <hpp/fcl/math/
types
.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
...
...
include/hpp/fcl/collision_data.h
View file @
a387f349
...
...
@@ -41,7 +41,7 @@
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/math/
vec_3f
.h>
#include <hpp/fcl/math/
types
.h>
#include <vector>
#include <set>
#include <limits>
...
...
include/hpp/fcl/math/matrix_3f.h
View file @
a387f349
...
...
@@ -38,34 +38,9 @@
#ifndef HPP_FCL_MATRIX_3F_H
#define HPP_FCL_MATRIX_3F_H
#
i
nclude <hpp/fcl/math/
vec_3f.h>
#
warning "This file is deprecated. I
nclude <hpp/fcl/math/
types.h> instead."
namespace
hpp
{
namespace
fcl
{
typedef
Eigen
::
Matrix
<
FCL_REAL
,
3
,
3
>
Matrix3f
;
/// @brief Class for variance matrix in 3d
class
Variance3f
{
public:
/// @brief Variation matrix
Matrix3f
Sigma
;
/// @brief Variations along the eign axes
Matrix3f
::
Scalar
sigma
[
3
];
/// @brief Eigen axes of the variation matrix
Vec3f
axis
[
3
];
};
}
}
// namespace hpp
// List of equivalent includes.
# include <hpp/fcl/math/types.h>
#endif
\ No newline at end of file
include/hpp/fcl/math/tools.h
View file @
a387f349
...
...
@@ -197,8 +197,6 @@ void eigen(const Eigen::MatrixBase<Derived>& m, typename Derived::Scalar dout[3]
return
;
}
template
<
typename
Derived
,
typename
OtherDerived
>
bool
isEqual
(
const
Eigen
::
MatrixBase
<
Derived
>&
lhs
,
const
Eigen
::
MatrixBase
<
OtherDerived
>&
rhs
,
const
FCL_REAL
tol
=
std
::
numeric_limits
<
FCL_REAL
>::
epsilon
()
*
100
)
{
...
...
@@ -206,7 +204,6 @@ bool isEqual(const Eigen::MatrixBase<Derived>& lhs, const Eigen::MatrixBase<Othe
}
}
}
// namespace hpp
#endif
\ No newline at end of file
include/hpp/fcl/math/transform.h
View file @
a387f349
...
...
@@ -39,7 +39,7 @@
#ifndef HPP_FCL_TRANSFORM_H
#define HPP_FCL_TRANSFORM_H
#include <hpp/fcl/math/
matrix_3f
.h>
#include <hpp/fcl/math/
types
.h>
#include <boost/thread/mutex.hpp>
namespace
hpp
...
...
@@ -126,8 +126,6 @@ public:
R
.
setIdentity
();
}
/// @brief operator =
Transform3f
&
operator
=
(
const
Transform3f
&
tf
)
{
...
...
@@ -262,8 +260,8 @@ public:
}
};
}
}
}
// namespace hpp
#endif
include/hpp/fcl/math/types.h
0 → 100644
View file @
a387f349
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** \author Joseph Mirabel */
#ifndef HPP_FCL_MATH_TYPES_H
#define HPP_FCL_MATH_TYPES_H
#include <hpp/fcl/data_types.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <hpp/fcl/math/tools.h>
#include <cmath>
#include <iostream>
#include <limits>
namespace
hpp
{
namespace
fcl
{
typedef
Eigen
::
Matrix
<
FCL_REAL
,
3
,
1
>
Vec3f
;
}
#ifdef HPP_FCL_HAVE_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
(OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
(OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
OCTOMAP_PATCH_VERSION >= z))))
#define OCTOMAP_VERSION_AT_MOST(x,y,z) \
(OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
(OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
OCTOMAP_PATCH_VERSION <= z))))
#endif // HPP_FCL_HAVE_OCTOMAP
}
namespace
hpp
{
namespace
fcl
{
typedef
Eigen
::
Matrix
<
FCL_REAL
,
3
,
3
>
Matrix3f
;
/// @brief Class for variance matrix in 3d
class
Variance3f
{
public:
/// @brief Variation matrix
Matrix3f
Sigma
;
/// @brief Variations along the eign axes
Matrix3f
::
Scalar
sigma
[
3
];
/// @brief Eigen axes of the variation matrix
Vec3f
axis
[
3
];
};
}
}
// namespace hpp
#endif
\ No newline at end of file
include/hpp/fcl/math/vec_3f.h
View file @
a387f349
...
...
@@ -38,37 +38,9 @@
#ifndef HPP_FCL_VEC_3F_H
#define HPP_FCL_VEC_3F_H
#
i
nclude <hpp/fcl/
d
at
a_
types.h>
#
warning "This file is deprecated. I
nclude <hpp/fcl/
m
at
h/
types.h>
instead."
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <hpp/fcl/math/tools.h>
// List of equivalent includes.
# include <hpp/fcl/math/types.h>
#include <cmath>
#include <iostream>
#include <limits>
namespace
hpp
{
namespace
fcl
{
typedef
Eigen
::
Matrix
<
FCL_REAL
,
3
,
1
>
Vec3f
;
}
}
// namespace hpp
#ifdef HPP_FCL_HAVE_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
(OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
(OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
OCTOMAP_PATCH_VERSION >= z))))
#define OCTOMAP_VERSION_AT_MOST(x,y,z) \
(OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
(OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
OCTOMAP_PATCH_VERSION <= z))))
#endif // HPP_FCL_HAVE_OCTOMAP
#endif
\ No newline at end of file
include/hpp/fcl/mesh_loader/loader.h
View file @
a387f349
...
...
@@ -40,7 +40,7 @@
#include <boost/shared_ptr.hpp>
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/config.hh>
#include <hpp/fcl/math/
vec_3f
.h>
#include <hpp/fcl/math/
types
.h>
#include <hpp/fcl/collision_object.h>
namespace
hpp
...
...
include/hpp/fcl/shape/geometric_shapes.h
View file @
a387f349
...
...
@@ -42,7 +42,7 @@
#include <boost/math/constants/constants.hpp>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/math/
vec_3f
.h>
#include <hpp/fcl/math/
types
.h>
#include <string.h>
namespace
hpp
...
...
test/test_fcl_math.cpp
View file @
a387f349
...
...
@@ -39,8 +39,7 @@
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/math/matrix_3f.h>
#include <hpp/fcl/math/types.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/intersect.h>
...
...
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