git-svn-id: https://kforge.ros.org/fcl/fcl_ros@148 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@147 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@146 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@145 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@144 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@143 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@142 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@141 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@140 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@139 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@138 253336fb-580f-4252-a368-f3cef5a2a82b

change the interface of collide: the collision settings are now in a CollisionRequest structure, and collision results are now in a CollisionResult structure. Distance has similar extension. This is for the convenience of adding cost and potential future extension.


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@137 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@136 253336fb-580f-4252-a368-f3cef5a2a82b

add octomap in shape; all collision_managers can handle octomap now, and DynamicAABB manager has special optimization for octomap. Need more test.


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@135 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@134 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@133 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@132 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@131 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@130 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@129 253336fb-580f-4252-a368-f3cef5a2a82b

fix bug in sse matrix


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@128 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@127 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@126 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@125 253336fb-580f-4252-a368-f3cef5a2a82b

implement the morton curve version of broadphase structure construction, on test, of the same performance as SSaP.


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@124 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@123 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@122 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@121 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@120 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@119 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@118 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@117 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@116 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@115 253336fb-580f-4252-a368-f3cef5a2a82b

fix more bugs. the new dynamicAABBTree broadphase works quite well in both distance and collision. besides the old self-collision, collision with an object, distance to an object interface, added self-distance, collision with a set of objects, distance to a set of objects. This simplifies the function in collision_detection_fcl and also makes some optimization possible.


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@114 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@113 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@112 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@111 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@110 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@109 253336fb-580f-4252-a368-f3cef5a2a82b