Commit c45c79a7 authored by jpan's avatar jpan
Browse files

add necessary documentation and change according to code review


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@152 253336fb-580f-4252-a368-f3cef5a2a82b
parent 3ee66493
...@@ -10,10 +10,6 @@ project(fcl CXX C) ...@@ -10,10 +10,6 @@ project(fcl CXX C)
#set(ROS_BUILD_TYPE RelWithDebInfo) #set(ROS_BUILD_TYPE RelWithDebInfo)
set(CMAKE_BUILD_TYPE Release) set(CMAKE_BUILD_TYPE Release)
set(FCL_VERSION "0.1.1")
set(PKG_DESC "Fast Collision Library")
set(PKG_EXTERNAL_DEPS "ccd flann octomap")
set(CMAKE_SKIP_BUILD_RPATH FALSE) set(CMAKE_SKIP_BUILD_RPATH FALSE)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib") set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
...@@ -27,10 +23,6 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) ...@@ -27,10 +23,6 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
include_directories("include") include_directories("include")
find_package(PkgConfig) find_package(PkgConfig)
pkg_check_modules(FLANN REQUIRED flann)
include_directories(${FLANN_INCLUDE_DIRS})
link_directories(${FLANN_LIBRARY_DIRS})
pkg_check_modules(CCD REQUIRED ccd) pkg_check_modules(CCD REQUIRED ccd)
include_directories(${CCD_INCLUDE_DIRS}) include_directories(${CCD_INCLUDE_DIRS})
link_directories(${CCD_LIBRARY_DIRS}) link_directories(${CCD_LIBRARY_DIRS})
...@@ -41,10 +33,10 @@ link_directories(${OCTOMAP_LIBRARY_DIRS}) ...@@ -41,10 +33,10 @@ link_directories(${OCTOMAP_LIBRARY_DIRS})
add_definitions(-DUSE_SVMLIGHT=0) add_definitions(-DUSE_SVMLIGHT=0)
add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/BV/OBBRSS.cpp src/BV/kDOP.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/transform.cpp src/simple_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broadphase/broadphase_bruteforce.cpp src/broadphase/broadphase_spatialhash.cpp src/broadphase/broadphase_SaP.cpp src/broadphase/broadphase_SSaP.cpp src/broadphase/broadphase_interval_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree_array.cpp src/collision.cpp src/collision_func_matrix.cpp src/broadphase/interval_tree.cpp src/conservative_advancement.cpp src/ccd/interval.cpp src/ccd/interval_vector.cpp src/ccd/interval_matrix.cpp src/ccd/taylor_model.cpp src/ccd/taylor_vector.cpp src/ccd/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp src/narrowphase/gjk.cpp src/narrowphase/gjk_libccd.cpp src/narrowphase/narrowphase.cpp src/broadphase/hierarchy_tree.cpp) add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/BV/OBBRSS.cpp src/BV/kDOP.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/ccd/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/math/transform.cpp src/traversal_node_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broadphase/broadphase_bruteforce.cpp src/broadphase/broadphase_spatialhash.cpp src/broadphase/broadphase_SaP.cpp src/broadphase/broadphase_SSaP.cpp src/broadphase/broadphase_interval_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree_array.cpp src/collision.cpp src/collision_func_matrix.cpp src/broadphase/interval_tree.cpp src/ccd/conservative_advancement.cpp src/ccd/interval.cpp src/ccd/interval_vector.cpp src/ccd/interval_matrix.cpp src/ccd/taylor_model.cpp src/ccd/taylor_vector.cpp src/ccd/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp src/narrowphase/gjk.cpp src/narrowphase/gjk_libccd.cpp src/narrowphase/narrowphase.cpp src/broadphase/hierarchy_tree.cpp src/profile.cpp src/collision_data.cpp)
target_link_libraries(${PROJECT_NAME} ${FLANN_LIBRARIES} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES}) target_link_libraries(${PROJECT_NAME} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES})
set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc") set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc")
configure_file("${pkg_conf_file}.in" "${pkg_conf_file}" @ONLY) configure_file("${pkg_conf_file}.in" "${pkg_conf_file}" @ONLY)
......
...@@ -44,7 +44,7 @@ ...@@ -44,7 +44,7 @@
#include "fcl/BV/RSS.h" #include "fcl/BV/RSS.h"
#include "fcl/BV/OBBRSS.h" #include "fcl/BV/OBBRSS.h"
#include "fcl/BV/kIOS.h" #include "fcl/BV/kIOS.h"
#include "fcl/transform.h" #include "fcl/math/transform.h"
/** \brief Main namespace */ /** \brief Main namespace */
namespace fcl namespace fcl
......
...@@ -39,7 +39,7 @@ ...@@ -39,7 +39,7 @@
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/vec_3f.h" #include "fcl/math/vec_3f.h"
namespace fcl namespace fcl
{ {
......
...@@ -38,8 +38,8 @@ ...@@ -38,8 +38,8 @@
#define FCL_OBB_H #define FCL_OBB_H
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/vec_3f.h" #include "fcl/math/vec_3f.h"
#include "fcl/matrix_3f.h" #include "fcl/math/matrix_3f.h"
namespace fcl namespace fcl
{ {
......
...@@ -38,8 +38,8 @@ ...@@ -38,8 +38,8 @@
#define FCL_OBBRSS_H #define FCL_OBBRSS_H
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/vec_3f.h" #include "fcl/math/vec_3f.h"
#include "fcl/matrix_3f.h" #include "fcl/math/matrix_3f.h"
#include "fcl/BV/OBB.h" #include "fcl/BV/OBB.h"
#include "fcl/BV/RSS.h" #include "fcl/BV/RSS.h"
......
...@@ -38,8 +38,8 @@ ...@@ -38,8 +38,8 @@
#define FCL_RSS_H #define FCL_RSS_H
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/vec_3f.h" #include "fcl/math/vec_3f.h"
#include "fcl/matrix_3f.h" #include "fcl/math/matrix_3f.h"
#include <boost/math/constants/constants.hpp> #include <boost/math/constants/constants.hpp>
namespace fcl namespace fcl
......
...@@ -38,7 +38,7 @@ ...@@ -38,7 +38,7 @@
#define FCL_KDOP_H #define FCL_KDOP_H
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/vec_3f.h" #include "fcl/math/vec_3f.h"
namespace fcl namespace fcl
{ {
......
...@@ -37,9 +37,6 @@ ...@@ -37,9 +37,6 @@
#ifndef FCL_KIOS_H #ifndef FCL_KIOS_H
#define FCL_KIOS_H #define FCL_KIOS_H
#include "fcl/BVH_internal.h"
#include "fcl/vec_3f.h"
#include "fcl/matrix_3f.h"
#include "fcl/BV/OBB.h" #include "fcl/BV/OBB.h"
......
...@@ -41,7 +41,6 @@ ...@@ -41,7 +41,6 @@
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/BV.h" #include "fcl/BV.h"
#include "fcl/BV_node.h" #include "fcl/BV_node.h"
#include "fcl/vec_3f.h"
#include "fcl/BV_splitter.h" #include "fcl/BV_splitter.h"
#include "fcl/BV_fitter.h" #include "fcl/BV_fitter.h"
#include <vector> #include <vector>
......
...@@ -38,7 +38,6 @@ ...@@ -38,7 +38,6 @@
#ifndef FCL_BVH_UTILITY_H #ifndef FCL_BVH_UTILITY_H
#define FCL_BVH_UTILITY_H #define FCL_BVH_UTILITY_H
#include "fcl/vec_3f.h"
#include "fcl/BVH_model.h" #include "fcl/BVH_model.h"
...@@ -77,10 +76,6 @@ void BVHExpand(BVHModel<OBB>& model, const Variance3f* ucs, FCL_REAL r); ...@@ -77,10 +76,6 @@ void BVHExpand(BVHModel<OBB>& model, const Variance3f* ucs, FCL_REAL r);
/// @brief Expand the BVH bounding boxes according to the corresponding variance information, for RSS /// @brief Expand the BVH bounding boxes according to the corresponding variance information, for RSS
void BVHExpand(BVHModel<RSS>& model, const Variance3f* ucs, FCL_REAL r); void BVHExpand(BVHModel<RSS>& model, const Variance3f* ucs, FCL_REAL r);
/// @brief Estimate the variance of point clouds due to sampling procedure
void estimateSamplingVariance(Vec3f* vertices, int num_vertices, Variance3f* ucs);
/// @brief Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles /// @brief Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles
void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& M); void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& M);
......
...@@ -40,9 +40,6 @@ ...@@ -40,9 +40,6 @@
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/data_types.h" #include "fcl/data_types.h"
#include "fcl/vec_3f.h"
#include "fcl/BV/OBB.h"
#include "fcl/BV/RSS.h"
#include "fcl/BV/kIOS.h" #include "fcl/BV/kIOS.h"
#include "fcl/BV/OBBRSS.h" #include "fcl/BV/OBBRSS.h"
#include <iostream> #include <iostream>
......
...@@ -38,8 +38,8 @@ ...@@ -38,8 +38,8 @@
#ifndef FCL_BV_NODE_H #ifndef FCL_BV_NODE_H
#define FCL_BV_NODE_H #define FCL_BV_NODE_H
#include "fcl/vec_3f.h" #include "fcl/math/vec_3f.h"
#include "fcl/matrix_3f.h" #include "fcl/math/matrix_3f.h"
#include "fcl/BV.h" #include "fcl/BV.h"
#include <iostream> #include <iostream>
......
...@@ -40,7 +40,6 @@ ...@@ -40,7 +40,6 @@
#include "fcl/BVH_internal.h" #include "fcl/BVH_internal.h"
#include "fcl/data_types.h" #include "fcl/data_types.h"
#include "fcl/vec_3f.h"
#include "fcl/BV/OBB.h" #include "fcl/BV/OBB.h"
#include "fcl/BV/RSS.h" #include "fcl/BV/RSS.h"
#include "fcl/BV/kIOS.h" #include "fcl/BV/kIOS.h"
......
...@@ -40,7 +40,6 @@ ...@@ -40,7 +40,6 @@
#include <vector> #include <vector>
#include <map> #include <map>
#include "fcl/BV/AABB.h" #include "fcl/BV/AABB.h"
#include "fcl/vec_3f.h"
#include "fcl/broadphase/morton.h" #include "fcl/broadphase/morton.h"
#include <boost/bind.hpp> #include <boost/bind.hpp>
#include <boost/iterator/zip_iterator.hpp> #include <boost/iterator/zip_iterator.hpp>
...@@ -122,7 +121,7 @@ class HierarchyTree ...@@ -122,7 +121,7 @@ class HierarchyTree
struct SortByMorton struct SortByMorton
{ {
bool operator() (NodeType* a, NodeType* b) const bool operator() (const NodeType* a, const NodeType* b) const
{ {
return a->code < b->code; return a->code < b->code;
} }
......
...@@ -38,10 +38,9 @@ ...@@ -38,10 +38,9 @@
#define FCL_CONSERVATIVE_ADVANCEMENT_H #define FCL_CONSERVATIVE_ADVANCEMENT_H
#include "fcl/vec_3f.h"
#include "fcl/collision_object.h" #include "fcl/collision_object.h"
#include "fcl/collision_data.h" #include "fcl/collision_data.h"
#include "fcl/motion_base.h" #include "fcl/ccd/motion_base.h"
namespace fcl namespace fcl
......
...@@ -40,7 +40,7 @@ ...@@ -40,7 +40,7 @@
#include "fcl/ccd/interval.h" #include "fcl/ccd/interval.h"
#include "fcl/ccd/interval_vector.h" #include "fcl/ccd/interval_vector.h"
#include "fcl/matrix_3f.h" #include "fcl/math/matrix_3f.h"
namespace fcl namespace fcl
{ {
......
...@@ -39,7 +39,7 @@ ...@@ -39,7 +39,7 @@
#define FCL_INTERVAL_VECTOR_H #define FCL_INTERVAL_VECTOR_H
#include "fcl/ccd/interval.h" #include "fcl/ccd/interval.h"
#include "fcl/vec_3f.h" #include "fcl/math/vec_3f.h"
namespace fcl namespace fcl
{ {
......
...@@ -38,11 +38,7 @@ ...@@ -38,11 +38,7 @@
#ifndef FCL_MOTION_H #ifndef FCL_MOTION_H
#define FCL_MOTION_H #define FCL_MOTION_H
#include "fcl/vec_3f.h" #include "fcl/ccd/motion_base.h"
#include "fcl/matrix_3f.h"
#include "fcl/BV/RSS.h"
#include "fcl/transform.h"
#include "fcl/motion_base.h"
#include "fcl/intersect.h" #include "fcl/intersect.h"
#include <iostream> #include <iostream>
#include <vector> #include <vector>
......
...@@ -38,10 +38,10 @@ ...@@ -38,10 +38,10 @@
#ifndef FCL_MOTION_BASE_H #ifndef FCL_MOTION_BASE_H
#define FCL_MOTION_BASE_H #define FCL_MOTION_BASE_H
#include "fcl/vec_3f.h"
#include "fcl/matrix_3f.h" #include "fcl/math/transform.h"
#include "fcl/transform.h"
#include "fcl/BV/RSS.h" #include "fcl/BV/RSS.h"
namespace fcl namespace fcl
{ {
......
...@@ -38,7 +38,7 @@ ...@@ -38,7 +38,7 @@
#define FCL_TAYLOR_MATRIX_H #define FCL_TAYLOR_MATRIX_H
#include "fcl/matrix_3f.h" #include "fcl/math/matrix_3f.h"
#include "fcl/ccd/taylor_vector.h" #include "fcl/ccd/taylor_vector.h"
#include "fcl/ccd/interval_matrix.h" #include "fcl/ccd/interval_matrix.h"
......
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