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| polyhedron_t | roboptim::capsule::convexHullFromPoints (const std::vector< point_t > &points) |
| | Creates a convex hull from a set of points. More...
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| value_type | roboptim::capsule::distancePointToSegment (const point_t &p, const point_t &a, const point_t &b) |
| | Compute the distance from point p to segment [a,b]. More...
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| point_t | roboptim::capsule::projectionOnSegment (const point_t &p, const point_t &a, const point_t &b) |
| | Compute the project of point p on segment [a,b]. More...
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| value_type | roboptim::capsule::distancePointToLine (const point_t &point, const point_t &linePoint, const vector3_t &dir) |
| | Distance from a point to a line described as a point and a. More...
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| Eigen::Matrix3d | roboptim::capsule::covarianceMatrix (const std::vector< point_t > &points) |
| | Compute the covariance matrix of a set of points. More...
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| void | roboptim::capsule::extremePointsAlongDirection (vector3_t dir, const std::vector< point_t > &points, int &imin, int &imax) |
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| Capsule | roboptim::capsule::capsuleFromPoints (const std::vector< point_t > &points) |
| | Computes a capsule from a set of points. More...
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| void | roboptim::capsule::convertCapsuleToSolverParam (argument_t &dst, const point_t &endPoint1, const point_t &endPoint2, const value_type &radius) |
| | Convert Capsule parameters to RobOptim solver parameters vector. More...
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| void | roboptim::capsule::convertSolverParamToCapsule (point_t &endPoint1, point_t &endPoint2, value_type &radius, const argument_t src) |
| | Convert RobOptim solver parameters vector to Capsule parameters. More...
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| void | roboptim::capsule::convertPolyhedronVectorToPolyhedron (polyhedron_t &polyhedron, const polyhedrons_t &polyhedrons) |
| | Convert a polyhedron vector to a single polyhedron. More...
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| void | roboptim::capsule::computeBoundingCapsulePolyhedron (const polyhedrons_t &polyhedrons, point_t &endPoint1, point_t &endPoint2, value_type &radius) |
| | Compute bounding capsule of a vector of polyhedrons. More...
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| void | roboptim::capsule::computeConvexPolyhedron (const polyhedrons_t &polyhedrons, polyhedrons_t &convexPolyhedrons) |
| | Compute the convex polyhedron over a vector of polyhedrons. More...
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