util.hh File Reference

#include <iostream>
#include <set>
#include <limits>
#include <boost/foreach.hpp>
#include <roboptim/capsule/fwd.hh>
#include <roboptim/capsule/types.hh>
#include <roboptim/capsule/qhull.hh>

Include dependency graph for util.hh:

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Classes
struct	roboptim::capsule::Capsule
	Structure containing Capsule data (start point, end point and. More...

Namespaces
	roboptim
	Declaration of DistanceSegmentPoint class that computes the distance between a segment and a point.
	roboptim::capsule

Functions
polyhedron_t	roboptim::capsule::convexHullFromPoints (const std::vector< point_t > &points)
	Creates a convex hull from a set of points. More...
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...
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...
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...
Eigen::Matrix3d	roboptim::capsule::covarianceMatrix (const std::vector< point_t > &points)
	Compute the covariance matrix of a set of points. More...
void	roboptim::capsule::extremePointsAlongDirection (vector3_t dir, const std::vector< point_t > &points, int &imin, int &imax)
Capsule	roboptim::capsule::capsuleFromPoints (const std::vector< point_t > &points)
	Computes a capsule from a set of points. More...
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...
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...
void	roboptim::capsule::convertPolyhedronVectorToPolyhedron (polyhedron_t &polyhedron, const polyhedrons_t &polyhedrons)
	Convert a polyhedron vector to a single polyhedron. More...
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...
void	roboptim::capsule::computeConvexPolyhedron (const polyhedrons_t &polyhedrons, polyhedrons_t &convexPolyhedrons)
	Compute the convex polyhedron over a vector of polyhedrons. More...